Control package: Difference between revisions

Control package (edit)

95 bytes added , 29 September 2015

501

edits

@@ Line 540: / Line 540: @@
 {|
-|<math display="inline">\alpha_2=ml^2+I\approx ml^2</math>
+|<math display="inline">\alpha_2=ml^2+I</math>
 |-
 |<math display="inline">\alpha_1=b</math>
@@ Line 546: / Line 546: @@
 |<math display="inline">\alpha_0=-mgl</math>
 |-
-|<math display="inline">\beta_4=(M+m)(ml^2+I)-m^2l^2\approx Mml^2</math>
+|<math display="inline">\beta_4=(M+m)(ml^2+I)-m^2l^2</math>
 |-
-|<math display="inline">\beta_3=(M+m)b+(ml^2+I)c\approx (M+m)b+ml^2c</math>
+|<math display="inline">\beta_3=(M+m)b+(ml^2+I)c</math>
 |-
 |<math display="inline">\beta_2=-(M+m)mgl+bc</math>
@@ Line 567: / Line 567: @@
   g = 9.80665;
   b = 20;
-  G1 = tf([1], [T1 1])     # create transfer function model
+  G1 = tf([m*l^2+I b m*g*l],
-  G2 =
+         [(M+m)*(m*l^2+I)-m^2*l^2 (M+m)*b+(m*l^2+I)*c (M+m)*m*g*l+b*c m*g*l*c 0])
+  G2 = tf([m*l],
+         [(M+m)*(m*l^2+I)-m^2*l^2 (M+m)*b+(m*l^2+I)*c (M+m)*m*g*l+b*c m*g*l*c])
 </syntaxhighlight>}}