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272 bytes added ,  01:37, 29 September 2015
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<!-- {{SyntaxHighlight| -->
 
<!-- {{SyntaxHighlight| -->
{{Code|Creating the transfer function for the inverted pendulum|<syntaxhighlight lang="octave" style="font-size:13px">
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{{Code|Creating the transfer functions for the inverted pendulum|<syntaxhighlight lang="octave" style="font-size:13px">
 
  m = 0.15;
 
  m = 0.15;
 
  l = 0.314;
 
  l = 0.314;
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  g = 9.80665;
 
  g = 9.80665;
 
  b = 20;
 
  b = 20;
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c = 0;
 
  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])
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         [(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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 +
and by invoking the bode command
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<!-- {{SyntaxHighlight| -->
 +
{{Code|Bode plot for the inverted pendulum|<syntaxhighlight lang="octave" style="font-size:13px">
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bode(G1);
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bode(G2);
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</syntaxhighlight>}}
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 +
One obtains the Bode plots of the two transfer functions.
    
==References==
 
==References==
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