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在钟万勰院士最新书上的原代码
% Precise Integration Method
clear;
A=zeros(2);
C=A;
D=[0.5,0;0,1];
B=[-6,2;2,-4];
f0=[0;0;0;10];
f1=zeros(size(f0));
H=[A,D;B,C];
I=eye(size(H));
iH=inv(H);
tf=20;
step=[2,0.5,0.1]; % different step size
N=20;
figure;
hold;
str=["o","x","b-"];
for jj=1:3
%PIM begin
dt=step(jj)/2^N;
Ta=H*dt+(H*dt)^2*(I+
