Question

Prob 3 - Given the nonlinear state equations for the inverted pendulum, mux" cos θ + m120" = mgl sin θ Compute the Jacobian matrixes for the equilibrium point (0,0,0,0-all states at zero and put into the form dx dt Define: Pendulum position, pendulum velocity, cart position, cart velocity are designated as X2-0' M10" = (M + m)g0-F, One form of the linearized model is

Please be explicit, thank you!

Answer 1

blam ru inutul pen da lim applied fo nk 니 び2 niy

oco bian 0 u) to sti as 0 ) u o ご0 nd On ko uo Now-一addin, all fair-,we hauu Mtn 0 RA O o no , us) = o u ㄈㄧ Mk

Mtm dd t 0