1function mrac_theta_p = mrac_vector(eta_p, theta_ves_hat, theta_e_hat, F_C, F_tol, frc_ctrl)
 2    
 3    kp = zeros(3,3);
 4    p21 = zeros(3,3);
 5    p22 = zeros(3,3);
 6    
 7    Me_hat = theta_e_hat(:,1:3);
 8    De_hat = theta_e_hat(:,4:6);
 9    Ke_hat = diag((ones(3,1).*4 - abs(eta_p)\eye(3))*F_C);
10    
11    M_hat = theta_ves_hat(1:3,:);
12    D_hat = theta_ves_hat(4:6,:);
13
14    for i=1:3
15         if frc_ctrl(i) == 1
16            kp(i,i) = -Ke_hat(i,i)/M_hat(i,i);
17            p21(i,i) = D_hat(i,i)/M_hat(i,i);
18            p22(i,i) = Ke_hat(i,i)/M_hat(i,i);
19        else
20            kp(i,i) = 1/(M_hat(i,i) + Me_hat(i,i));
21            p21(i,i) = kp(i,i)*(D_hat(i,i) + De_hat(i,i));
22        end
23    end
24    
25    mrac_theta_p = [zeros(3,3); kp; p21; p22];