%-- SCRIPT: PlotGraf ------------------------------------------------------------------------   
 figure(2)
 subplot(2,1,1), plot(t,q(1,:)*180/pi,'r', t,q(2,:)*180/pi,'b',...
                      t,q_r(1,:)*180/pi,'k-.', t,q_r(2,:)*180/pi,'k-.' )
                 ylabel(' qi (rad) '), grid on
                 title(' Deslocamentos e Velocidades: q1 ("red") e q2 ("blue") ')
 subplot(2,1,2), plot(t,dq(1,:),'r', t,dq(2,:),'b',...
                      t,dq_r(1,:),'k-.', t,dq_r(2,:),'k-.' )
                 xlabel(' t (s) '), ylabel(' dqi (rad/s) '), grid on
 pause, close(2)
                 
