From b1f5c3f8d6671b4331cef1dcebdf63b7a43a3a2b Mon Sep 17 00:00:00 2001
From: priyanka
Date: Wed, 24 Jun 2015 15:03:17 +0530
Subject: initial commit / add all books

---
 2048/CH2/EX2.1/pend_model.sce | 33 +++++++++++++++++++++++++++++++++
 1 file changed, 33 insertions(+)
 create mode 100755 2048/CH2/EX2.1/pend_model.sce

(limited to '2048/CH2/EX2.1')

diff --git a/2048/CH2/EX2.1/pend_model.sce b/2048/CH2/EX2.1/pend_model.sce
new file mode 100755
index 000000000..1181fc69f
--- /dev/null
+++ b/2048/CH2/EX2.1/pend_model.sce
@@ -0,0 +1,33 @@
+// 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;
-- 
cgit