hold on;
	h=plot([-pi,0,pi],0,'k.'); 	set(h,'markersize',40);
	pdl = inline('[x(2);-9.81*sin(x(1))]','t','x');
	opt=odeset('RelTol',1e-5);
	for x1=0.4:0.3:3,
	    [t,x]=ode45(pdl,[0 10],[x1;0],opt);
	    h=plot(x(:,1),x(:,2),'k-');
	    set(h,'linewidth',2);
	end
					

	pdl = inline('[x(2);-9.81*sin(x(1))]','t','x');
	opt=odeset('RelTol',1e-5);
	for x1=2.2:0.3:3,
	    [t,x]=ode45(pdl,[0 10],[x1;0],opt);
	    h=plot(x(:,1),x(:,2),'k-');
	    set(h,'linewidth',2);
	end
	axis([2 4 -4 4]);
	
	[t,x]=ode45(pdl,[0 -4],[3.14;0],opt);
	h=plot(x(:,1),x(:,2),'k-');	set(h,'linewidth',4);
	[t,x]=ode45(pdl,[0 -4],[3.142;0],opt);
	h=plot(x(:,1),x(:,2),'k-');	set(h,'linewidth',4);
	
	[t,x]=ode45(pdl,[0 4],[3.14;0],opt);
	h=plot(x(:,1),x(:,2),'color',[0.6 0.6 0.6]); set(h,'linewidth',4);
	[t,x]=ode45(pdl,[0 4],[3.142;0],opt);
	h=plot(x(:,1),x(:,2),'color',[0.6 0.6 0.6]); set(h,'linewidth',4);
	
	h=plot(pi,0,'k.');
	set(h,'markersize',40);
					

	pdl = inline('[x(2);-9.81*sin(x(1))]','t','x');
	opt=odeset('RelTol',1e-5);
	axis([-4 4 -10 10])
	
	[t,x]=ode45(pdl,[0 -5],[3.14;0],opt);
	h=plot(x(:,1),x(:,2),'k-');	set(h,'linewidth',4);
	[t,x]=ode45(pdl,[0 -4],[3.142;0],opt);
	h=plot(x(:,1),x(:,2),'k-');	set(h,'linewidth',4);
	[t,x]=ode45(pdl,[0 4],[-3.142;0],opt);
	h=plot(x(:,1),x(:,2),'k-');	set(h,'linewidth',4);
	
	[t,x]=ode45(pdl,[0 5],[3.14;0],opt);
	h=plot(x(:,1),x(:,2),'color',[0.6 0.6 0.6]); set(h,'linewidth',4);
	[t,x]=ode45(pdl,[0 4],[3.142;0],opt);
	h=plot(x(:,1),x(:,2),'color',[0.6 0.6 0.6]); set(h,'linewidth',4);
	[t,x]=ode45(pdl,[0 -4],[-3.142;0],opt);
	h=plot(x(:,1),x(:,2),'color',[0.6 0.6 0.6]); set(h,'linewidth',4);
	
	h=plot(pi,0,'k.'); set(h,'markersize',40);
	h=plot(-pi,0,'k.');	set(h,'markersize',40);