T_Sy = 0.5 * m_S * (r_S * diff(phi_y,t))^2 + 0.5 * I_S * diff(phi_y,t)^2; v_Uy_x = r_S * diff(phi_y,t) + l_U * cos(theta_y) * diff(theta_y,t); v_Uy_z = -l_U * sin ...

AI coding agents are increasingly capable with MATLAB — but capability isn't expertise. Without guidance, agents reinvent what toolbox functions already provide, miss features they don't know about, ...