solving dynamic equation with ode45

I have equation in form M(X) X ̈+C(X,X ̇ ) X ̇+G(X)=F and I can solve X by input F.

there is an equation like this: J^T (X) .τ=F and with placement to upper equation change into an other form

M(X) X ̈+C(X,X ̇ ) X ̇+G(X)=J^T (X) .τ

in this form i cant get same answer like first equation with ode45 . and matlab get singularity error and get far from desired answer.

run drawF.m for geting correct answer ,

run draw.m for solving my problem

pls help.

[darova]

attach your code

[elyad Xanbabayi]

run drawF.m for geting correct answer ,

run draw.m for solving my problem