Control package: Difference between revisions

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319 bytes added ,  28 September 2015
Line 524: Line 524:
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>
and by dividing the state variables by the input one obtains the transfer functions
<math>
\begin{align}
G_1(s)&=\frac{X(s)}{F(s)}=\frac{\alpha_2s^2+\alpha_1s+\alpha_0}{\beta_4s^4+\beta_3s^3+\beta_2s^2+\beta_1s}\\
G_2(s)&=\frac{\Theta(s)}{F(s)}=\frac{c_2s}{\beta_4s^3+\beta_3s^2+\beta_2s+\beta_1}
\end{align}
</math>
</math>


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