Sandesh Thapa

If you read any robot dynamics and control paper or book carefully, they should provide you complete equation to compute the inertia matrix M, once you get the M, you...

Line 167 in https://github.com/sandeshthapa/Adaptive_Sliding_Mode_Control_of_Aerial_Manipulator/blob/master/C_matrix_dynamics.m gives you that function you need which is : C_Matrix_vars.m Try that and let me know if it works.

You can also read about matlab function, how it is used to create embedded functions. https://www.mathworks.com/help/symbolic/matlabfunction.html

[email protected] check this please.