501
edits
Control package: Difference between revisions
Jump to navigation
Jump to search
→Inverted Pendulum
| Line 507: | Line 507: | ||
|} | |} | ||
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> | ||
| Line 514: | Line 515: | ||
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== | ||