501
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Control package: Difference between revisions
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→Inverted Pendulum
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(M+m)\ddot{x}+c\dot{x}-ml\cos{\theta}\ddot{\theta}+ml\sin{\theta}\dot{\theta}^2=f(t)\\ | (M+m)\ddot{x}+c\dot{x}-ml\cos{\theta}\ddot{\theta}+ml\sin{\theta}\dot{\theta}^2=f(t)\\ | ||
-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}\text{,} | ||
</math> | </math> | ||
where the variables are defined as | where the variables are defined as | ||
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(M+m)\ddot{x}+c\dot{x}1ml\ddot{\theta}=f(t)\\ | (M+m)\ddot{x}+c\dot{x}1ml\ddot{\theta}=f(t)\\ | ||
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}\text{.} | ||
</math> | </math> | ||
==References== | ==References== | ||