The 3D animation is created using Matlab's surf and drawnow commands. The rotation is based on Euler/Cardan angles and performed with individually computed rotation matrices (rather than using Matlab's own rotate algorithm). The time dependence of the Cardan angles (phi, theta, psi), as well es the theta phase plane (p_theta over theta) are also plotted.
I uploaded the program which I wrote for creating this animation to Matlab File Exchange (FEX): http://www.mathworks.com/matlabcentral/fileexchange/28309
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