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→Inverted Pendulum
<!-- {{SyntaxHighlight| -->
<!-- {{SyntaxHighlight| -->
{{Code|Creating the transfer function for the inverted pendulum|<syntaxhighlight lang="octave" style="font-size:13px">
{{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;
g = 9.80665;
g = 9.80665;
b = 20;
b = 20;
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])
[(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>}}
and by invoking the bode command
<!-- {{SyntaxHighlight| -->
{{Code|Bode plot for the inverted pendulum|<syntaxhighlight lang="octave" style="font-size:13px">
bode(G1);
bode(G2);
</syntaxhighlight>}}
One obtains the Bode plots of the two transfer functions.
==References==
==References==