function PLATE=plate(W,H,Xc,Yc,Zc,alpha,betha)
base_vertices=[-5 -5 -Zc
               5 -5 -Zc
               5 5 -Zc
               -5 5 -Zc
               -5 -5 -Zc+2
               5 -5 -Zc+2
               5 5 -Zc+2
               -5 5 -Zc];
base_faces=[1 2 6 5
            2 3 7 6
            3 7 8 4
            4 8 5 1
            8 5 6 7
            1 2 3 4];
q=patch('vertices',base_vertices,'faces',base_faces,'facecolor','g');


trave_vertices=[-2 -2 -Zc+2
                2 -2 -Zc+2
                2 2 -Zc+2
                -2 2 -Zc+2
                -2 -2 -7.5
                2 -2 -7.5
                2 2 -7.5
                -2 2 -7.5
                0 0 -0.5];
trave_faces=[1 2 6 5
            2 3 7 6
            3 7 8 4
            4 8 5 1
            1 2 3 4
            6 7 9 9
            7 8 9 9
            5 8 9 9
            6 5 9 9];

w=patch('vertices',trave_vertices,'faces',trave_faces,'facecolor','g');

placa_vertices=[-(H/2) -(W/2) -0.4
                (H/2) -(W/2) -0.4
                (H/2) (W/2) -0.4
                -(H/2) (W/2) -0.4
                -(H/2) -(W/2) -0.2
                (H/2) -(W/2) -0.2
                (H/2) (W/2) -0.2
                -(H/2) (W/2) -0.2];
            
            
placa_faces=[1 2 6 5
             2 3 7 6
             3 7 8 4
             4 8 5 1
             8 5 6 7
             1 2 3 4];
PLATE=patch('vertices',placa_vertices,'faces',placa_faces,'facecolor','c');
seixos;
hold on
eixos=fill3(P(1,:),P(2,:),P(3,:),'r');
v=[placa_vertices'; ones(1,size(placa_vertices,1))];
v2=[base_vertices'; ones(1,size(base_vertices,1))];
v3=[trave_vertices'; ones(1,size(trave_vertices,1))];

M=RPY(betha,alpha,0);
c=trans(Xc,Yc,Zc);
hold on

    movimentos_placa=c*M;
    Q=movimentos_placa*v;
    Q2=c*v2;
    Q3=c*v3;
    eixos2=movimentos_placa*P;
    set(q,'vertices',Q2(1:3,:)');
    set(w,'vertices',Q3(1:3,:)');
    set(PLATE,'vertices',Q(1:3,:)');
    set(eixos,'XData',P(1,:),'YData',P(2,:),'ZData',P(3,:));

hold off
end