matrix diff(double t, matrix Y, matrix &C)
{
    matrix dY(2);
    double mr = 1, mc = 10, l = 0.5, b = 0.5, alfa_ref = 3.14, omega_ref = 0;
    double I = mr*pow(l, 2) / 3 + mc*pow(l, 2);
    dY(0) = Y(1);
    dY(1) = (C(0)*(alfa_ref - Y(0)) + C(1)*(omega_ref - Y(1)) - b*Y(1)) / I;
    return dY;
}