dbpen-rot.mws
Description
The Quanser_Tools Package
References
Worksheet Initialization
Notations
Generalized Coordinates:
q[i]'s
Transformation Matrices
Cartesian Coordinates of the Pendulum's Centre Of Gravity
State-Space Variables
Total Potential and Kinetic Energies of the System
Total Potential Energy:
V[T];
Total Kinetic Energy:
T[T];
Generalized Forces:
Q[i]'s
Euler-Lagrange's Equations
Linearization in the EOM's of the Trigonometric Functions
Additional Insight: Inertia (or mass) Matrix: Fi
Solving the Euler-Lagrange's Equations
Reverse State Substitution for Pretty Display of the Solved EOM's
Solution to the Non-Linear Equations of Motion
Solution to the Linearized EOM's
Determine the System State-Space Matrices: A, B, C, and D
Write A, B, C, and D to a Matlab file
Procedure Printing