f:={x2, (km/J) x3 - (b/J) x2 + (Mgl/J) Sin[x1], - (Ra/La) x3 - (km/La) x2}; g:={0,0,(1/La)}; h:= x1; x:={x1,x2,x3}; xes:={x1es,x2es,x3es}; lambdau := {-10, -10, -10}; lambdao := {-20, -20, -20};