Initial commit.
#!/usr/bin/python
## 2.1
from numpy import zeros
def pend_model():
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[0,2] = 1
A[1,3] = 1
A[2,1] = -gamma1
A[2,2] = -alpha2*delta
A[3,1] = alpha
A[3,2] = alpha2*beta1
B = zeros([4,1])
B[2] = alpha1*delta
B[3] = -alpha1*beta1
return A, B
if __name__ == "__main__":
A, B = pend_model()
print "A", A
print "B", B