ngle [deg]')
    xlabel('Time [s]')
    legend('PSI','PHI')
subplot(3,1,2)
    hold on ; grid on ; box on
    plot(TSPAN,YT,'b','linewidth',2)
    ylabel('Position [m]')
    xlabel('Time [s]')
subplot(3,1,3)
    hold on ; grid on ; box on
    plot(TSPAN,dPSI,'b','linewidth',2)
    plot(TSPAN,dPHI,'g','linewidth',2)
    ylabel('Anglular velocity [deg/s]')
    xlabel('Time [s]')
    legend('dPSI','dPHI')

g = Graphics(simulator);
g.TractorColor      = 'r';
g.SemitrailerColor  = 'g';
g.Frame();
g.Animation();
