initial commit / add all books

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+// Model of inverted pendulum

+// 2.1

+

+Km = 0.00767;

+Kg = 3.7;

+Rm = 2.6;

+r = 0.00635;

+M = 0.522;

+m = 0.231;

+g = 9.81;

+L = 0.305;

+J = 0;

+

+D1 = (J+m*L^2)*(M+m)-m^2*L^2;

+alpha = m*g*L*(M+m)/D1;

+beta1 = m*L/D1;

+gamma1 = m^2*g*L^2/D1;

+delta = (J+m*L^2)/D1;

+

+alpha1 = Km*Kg/Rm/r;

+alpha2 = Km^2*Kg^2/Rm/r^2;

+

+A = zeros(4,4);

+A(1,3) = 1;

+A(2,4) = 1;

+A(3,2) = -gamma1;

+A(3,3) = -alpha2*delta;

+A(4,2) = alpha;

+A(4,3) = alpha2*beta1;

+

+B = zeros(4,1);

+B(3) = alpha1*delta;

+B(4) = -alpha1*beta1;