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Control package: Difference between revisions
→Inverted Pendulum
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[[File:inverted_pendulum_new.png|Schematic drawing of the inverted pendulum.]] | [[File:inverted_pendulum_new.png|frame|Schematic drawing of the inverted pendulum.]] | ||
Linearization around the point <math display="inline">\theta=\pi</math> and substitution of <math display="inline">\theta'=\theta-\pi</math> (from here on in the analysis, <math display="inline">\theta'</math> will be written as <math display="inline">\theta</math>, but it should be noted that <math display="inline">\theta</math> now | Linearization around the point <math display="inline">\theta=\pi</math> and substitution of <math display="inline">\theta'=\theta-\pi</math> (from here on in the analysis, <math display="inline">\theta'</math> will be written as <math display="inline">\theta</math>, but it should be noted that <math display="inline">\theta</math> now | ||
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one obtains the Bode plots of the two transfer functions. | one obtains the Bode plots of the two transfer functions. | ||
[[File:bode_g1.png|Bode diagram of the cart movement transfer function.]] | [[File:bode_g1.png|frame|Bode diagram of the cart movement transfer function.]] | ||
[[File:bode_g2.png|Bode diagram of the pendulums rotation transfer function.]] | [[File:bode_g2.png|frame|Bode diagram of the pendulums rotation transfer function.]] | ||
==References== | ==References== | ||