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<!-- {{SyntaxHighlight| --> | <!-- {{SyntaxHighlight| --> | ||
{{Code|Creating the transfer | {{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; | ||
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>}} | ||
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== |
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