501
edits
Control package: Difference between revisions
Jump to navigation
Jump to search
→Inverted Pendulum
| Line 512: | Line 512: | ||
<math> | <math> | ||
\begin{cases} | \begin{cases} | ||
(M+m)\ddot{x}+c\dot{x}+ml\ddot{\theta}=f(t)\\ | (M+m)\ddot{x}+c\dot{x}+ml\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}\text{.} | \end{cases}\text{.} | ||
</math> | </math> | ||
| Line 521: | Line 521: | ||
<math> | <math> | ||
\begin{cases} | \begin{cases} | ||
(M+m)s^2X(s)+csX(s)+mls^2\Theta(s)=F(s)\\ | (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 | mlsX(s)+(ml^2+I)s^2\Theta(s)+bs\Theta(s)-mgl\Theta(s)&=0 | ||
\end{cases} | \end{cases} | ||
</math> | </math> | ||