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→Inverted Pendulum
| Line 477: | Line 477: | ||
<math> | <math> | ||
\begin{cases} | \begin{cases} | ||
(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}\text{,} | \end{cases}\text{,} | ||
</math> | </math> | ||