白噪声激励这样施加对吗？

苏小贝

function xd = Pendulum_fun(t,x,f1)
L1 = 1;m1 = 0.09; ka = 0.5;f0 = -0.1;f1 = 0.05;zeta = 0.05;t =1;w=sqrt(m1/ka);
X    = x(1);
Y    = x(2);
thet = x(3);
dX   = x(4);
dY   = x(5);
dthet= x(6);
% M  w  = linspace(0.45,0.9,500);w1 = w(1);
T = 2*pi/w;
NN=500;
tt = linspace(0,50*T,NN);
dt=tt(2)-tt(1);
randn('state',100);
dW    = sqrt(dt)*randn(1,NN);
for h=1:NN
     Winc   = dW(h);

M  = [1,0,L1*m1*cos(thet);
    0,1,L1*m1*sin(thet);
    cos(thet),sin(thet),L1];
C  = [2*zeta*(1+m1),0,2*zeta*L1*m1*cos(thet);
             -2*zeta*Y/sqrt(1-Y^2),2*zeta*(1+m1+Y^2/(1-Y^2)),2*zeta*m1*L1*sin(thet);
             2*zeta*cos(thet),2*zeta*sin(thet),2*zeta*L1];
K  = diag([1,ka,0]);
XXX= X-1+sqrt(1-Y^2);
NF = [-L1*m1*dthet^2*sin(thet)+sqrt(1-Y^2)-1;
    m1*L1*dthet^2*cos(thet)-Y*XXX/sqrt(1-Y^2)-f0];
    F=[0;0;0;0;f1;0];

%F =[0;f1;0]; F*sqrt(dt)*randn(1,500)  -f1*dW(h -f0*sin(thet)];
AA = [zeros(3,3),eye(3,3);
    -inv(M)*K,-inv(M)*C];
BB = [zeros(3,1);-inv(M)*NF];
EQ = AA*[X;Y;thet;dX;dY;dthet]+BB+F*Winc;
%h
end

s1 = EQ(1);s2 = EQ(2);s3 = EQ(3);s4 = EQ(4);s5 = EQ(5);s6 = EQ(6);
xd = [s1;s2;s3;s4;s5;s6];
end
关于这个随机方程的求解能给点意见吗？因为这给方程好像不属于ito型或是stratonovich型的方程？