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6 bytes added ,  01:33, 29 September 2015
Line 567: Line 567:  
  g = 9.80665;
 
  g = 9.80665;
 
  b = 20;
 
  b = 20;
  G1 = tf([m*l^2+I b m*g*l],
+
  G1 = tf([m*l^2+I b -m*g*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 0])
+
         [(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],
+
  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])
+
         [(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>}}
  
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