# Changes

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,  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| -->
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{{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==
501

edits