501
edits
Control package: Difference between revisions
Jump to navigation
Jump to search
→Inverted Pendulum
| Line 569: | Line 569: | ||
c = 0; | 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]); | ||
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>}} | ||