# Changes

,  01:31, 29 September 2015
Line 540: Line 540:
{|

{|
|<math display="inline">\alpha_2=ml^2+I\approx ml^2[/itex]
+
|<math display="inline">\alpha_2=ml^2+I[/itex]

|-

|-

|<math display="inline">\alpha_1=b[/itex]

|<math display="inline">\alpha_1=b[/itex]
Line 546: Line 546:
|<math display="inline">\alpha_0=-mgl[/itex]

|<math display="inline">\alpha_0=-mgl[/itex]

|-

|-
|<math display="inline">\beta_4=(M+m)(ml^2+I)-m^2l^2\approx Mml^2[/itex]
+
|<math display="inline">\beta_4=(M+m)(ml^2+I)-m^2l^2[/itex]

|-

|-
|<math display="inline">\beta_3=(M+m)b+(ml^2+I)c\approx (M+m)b+ml^2c[/itex]
+
|<math display="inline">\beta_3=(M+m)b+(ml^2+I)c[/itex]

|-

|-

|<math display="inline">\beta_2=-(M+m)mgl+bc[/itex]

|<math display="inline">\beta_2=-(M+m)mgl+bc[/itex]
Line 567: Line 567:
g = 9.80665;

g = 9.80665;

b = 20;

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>}}

</syntaxhighlight>}}

501

edits