CS545_homework_4

From lecture 3 we know that the equation of motion

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Unformatted text preview: le. From lecture 3, we know that the equation of motion for a single pendulum without control input is given by ! = −(!sin(!))/! , and from this we can formulate the linearized first order difference equation. Here, we have the following linearized difference equation. ! !! ! 1 − Δt !! ! − 1 + ! !  = ! !! ! !! ! − 1 Δ! 1 X ! = AX ! − 1 + ! ! (1) where x! = ! (rad/s), x! = ! (rad), n is a time step index, Δt (s) is the time interval between time steps, η is process noise (e.g., due to linearization error, initial condition uncertainty,...
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This homework help was uploaded on 02/14/2014 for the course CSCI 545 taught by Professor Schaal during the Spring '08 term at USC.

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