Control package: Difference between revisions

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224 bytes added ,  28 September 2015
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By linearization around the point <math display="inline">\theta=\pi</math> and sunstitution of <math display="inline">\theta'=\theta-\pi</math> leads to
Linearization around the point <math display="inline">\theta=\pi</math> and substitution of <math display="inline">\theta'=\theta-\pi</math> (from here on in the analysis, <math display="inline">\theta'</math> will be written as <math display="inline">\theta</math>, but it should be noted that <math display="inline">\theta</math> now
measures from a new reference) leads to


<math>
<math>
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ml\dot{x}+(ml^2+I)\ddot{\theta}+b\dot{\theta}-mgl\theta=0
ml\dot{x}+(ml^2+I)\ddot{\theta}+b\dot{\theta}-mgl\theta=0
\end{cases}
\end{cases}
</math>
</math>.


==References==
==References==
501

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