matrix fe3(matrix x,matrix ud1,matrix ud2)
{
    matrix y;
    matrix y0(4,new double[4]{0,x(0),100,0});
    matrix *Y= solve_ode(df,0,0.01,7,y0,ud1,x(1));
    int n=get_len(Y[0])         ;
    int i50=0,i0=0;
    for(int i=0;i<n;i++)
    {
        if(abs(Y[1](i,2)-50)<abs(Y[1](i50,2)-50))
            if(abs(Y[1](i,2))<abs(Y[1](i0,2)))
                i0=i;
    }
    y= -Y[1](i0,0);
    if(abs(x(0))-10>0) y=y+ud2* pow(abs(x(0))-10,2);
    if(abs(x(1))-25>0) y=y +ud2*pow(abs(1)-25,2);
    if(abs(Y[1](i50,0)-5)-1>0) y=y+ud2*pow(abs(Y[1](i50,0)-5)-1,2));
    return y;
}