PHAT ddPSI];

solution = solve(EQ-Q,dvar);

dq_Alt = formula(subs(dq,[dx dy ddx ddy],[dx_Alt dy_Alt ddx_Alt ddy_Alt]));

f1 = dq_Alt.';
f2 = [ simplify(solution.dVT) ; simplify(solution.dALPHAT) ; simplify(solution.ddPSI)];
f = [ f1 ; f2];
disp(f)
</pre><pre class="codeoutput">                                                                                                              VT*cos(ALPHAT + PSI)
                                                                                                       