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→Inverted Pendulum
| Line 515: | 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}\text{.} | \end{cases}\text{.} | ||
</math> | |||
This can be expressed in the frequency domain like | |||
<math> | |||
\begin{cases} | |||
(M+m)s^2X(s)+csX(s)+mls^2\Theta(s)=F(s)\\ | |||
mlsX(s)+(ml^2+I)s^2\Theta(s)+bs\Theta(s)-mgl\Theta(s)=0 | |||
\end{cases} | |||
</math> | </math> | ||