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funPendulum.m
function fVal= funPendulum(t,Y)
r=Y(1);
theta=Y(2);
u=Y(3);
v=Y(4);
%constants
K=40;
m=0.25;
g=9.80665;
L=0.5;
% define dy/dt
fVal(1,1)=u;
fVal(2,1)=v;
fVal(3,1)=r*(u^2)+g*cosd(theta)-(K/m)*(r-L);
fVal(4,1)=(-2*u*v-g*sind(theta))/r;
end
runPendulum.m
Y0=[0.5;60;0;0];
tSpan=[0 3.05675];
[time,Ysol]=ode23(@(t,Y) funPendulum(t,Y),tSpan,Y0);
r=Ysol(:,1);
theta=Ysol(:,2);
u=Ysol(:,3);
v=Ysol(:,4);
clf;
plot(time,Ysol);
xlabel('Time(s)');ylabel('r theta u v')
hold on;
plot(3.05675,0.543911,'*b')
[theta,time,r]
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