501
edits
Control package: Difference between revisions
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→Inverted Pendulum
| 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>}} | ||