analpendmot

# analpendmot - This script performs some basic analyses on...

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% This script performs some basic analyses on the motor-driven pendulum system % Define initial equilibrium points for an equilibrium point search xeq=[0;0;0]; % Initial equilibrium state ueq=0; % Initial equilibrium input yeq=[pi]; % Desired equilibrium output % Note: pi is a stable equilibrium point. Try changing this value to 0, save and rerun the script! % The following lines setup the trim function ix=[]; iu=[]; iy=[1]; % Find the equilibrium points associated with the nonlinear system nlpendmot.mdl [xeq,ueq,yeq,dxeq]=trim('nlpendmot',xeq,ueq,yeq,ix,iu,iy) % Find the linearized model associated with the nonlinear system nlpendmot.mdl at the desired equilibrium points [AA,BB,CC,DD]=linmod('nlpendmot',xeq,ueq) % Note: The above state space model has the following state order [Theta, I, Thetadot] % Convert the state space model to transfer function form [NUM,DEN]=ss2tf(AA,BB,CC,DD) % Convert the state space model to the Matlab's preferred LTI form sys=ss(AA,BB,CC,DD); figure % Create a pole zero map of the linearized system at the equilibrium point

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analpendmot - This script performs some basic analyses on...

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