cartpend_lagr

# cartpend_lagr - Sheet1 Page 1 % Cart and inverted pendulum...

This preview shows pages 1–2. Sign up to view the full content.

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: Sheet1 Page 1 % Cart and inverted pendulum problem % Solution via Lagrange's method %------------------------------------------------------------------------------------ % Set up problem Overwrite on Newtonian N % n1> to the right, n2> upward, and n3> = n1> x n2> Bodies A,B % A is the block, B is the inverted pendulum Points O % O is fixed in N Points P % P is pendulum pivot point Points Q,R % Q is at front of block, R is at bottom of block Points S % S is top end of pendulum Constants c,d % Block half-height and half-length Constants h % Pendulum length Constants g % Gravitational constant Constants IB % Central principal moment of inertia of B Constants k1,k2,k3,k4,c1,c2,c3,c4 % Controller stiffness and damping terms Mass A=MA,B=MB I_B_Bo>> = IB*b3>*b3> Variables q{2}'' Variables FA,FB,FR2,TR,FP1,FP2,TAB %------------------------------------------------------------------------------------ % Rotation Matrices N_A = Diagmat(3, 1) Simprot(A, B, 3, q2) %------------------------------------------------------------------------------------ % Rotational Kinematics w_A_N> = 0> alf_A_N> = 0> w_B_N> = q2'*b3> alf_B_N> = Dt(W_B_N>, B)...
View Full Document

## This note was uploaded on 06/13/2011 for the course EML 5215 taught by Professor Staff during the Fall '08 term at University of Florida.

### Page1 / 3

cartpend_lagr - Sheet1 Page 1 % Cart and inverted pendulum...

This preview shows document pages 1 - 2. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online