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Line 480:
Line 480: − + + Line 515:
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→Inverted Pendulum
-ml\ddot{x}\cos{\theta}+(ml^2+I)\ddot{\theta}+b\dot{\theta}+mgl\sin{\theta}=0
-ml\ddot{x}\cos{\theta}+(ml^2+I)\ddot{\theta}+b\dot{\theta}+mgl\sin{\theta}=0
\end{cases}
\end{cases}
</math>,
</math>
,
where the variables are defined as
where the variables are defined as
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==