BLOCK DIAGRAM

          p19_1


TRANSFER FUNCTIONS

           p11d4            (The Inverted Pendulum)
 
p3_4 (The Cart and Motor System)





We will later use the variables xsubp(t),  xdot1p(t),  theta(t),  thetad1(t) as the state space variables for our state space representation of the system. We can show the Laplace transform of these variables on the block diagram as follows:

          p19_2
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