Calculate F(s) = CB where C = I, the identity matrix, and B is the vector derived three pages ago at the bottom under

F(s) = CB

Recall from earlier the transfer function equations:

Transfer function for the cart and motor system. | ||

Transfer function for the inverted pendulum. |

And recall from the Laplace transform that = s [f(t)]

Thus and

Our equation F(s) is now:

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