Calculate F(s) = Cp21siaB where C = I, the identity matrix, and B is the vector derived three pages ago at the bottom under Derivation of State Space Representation.


           F(s) = Cp21siaB


p22_1



p22_2



Recall from earlier the transfer function equations:


p11d4       Transfer function for the cart and motor system.
 
p3_4 Transfer function for the inverted pendulum.


And recall from the Laplace transform that p22_7 = s laplace [f(t)]

Thus p22_4 and p22_5


Our equation F(s) is now:


p22_6
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