Problem 1.34 For '1! near 16,
which is nonnegative if 1) > 16. However. is meaningless for 'l. < 0. so we definiter
could not use the linearized model for z! < 0.
Problem 1.35 Sum moments about the pivot.
0 : fLi * kllL2glL2 * lf2
A Test Problem
Consider an inverted pendulum system
shown in the figure. There are torsional
spring and damper applied at the hinge.
D(t) describes the horizontal base
displacement function. F(t) is a
horizontal force applied to the mass at the