Discussion of Observable Properties

The two state veriables X and theta are directly observable by measuring the voltage from the corresponding potentiometers and multiplying by appropriate scaling constants. Thus:

           p32a_1a       ;       vsubx = Voltage corresponding to X position            p32a_1c
 
           p32a_2a       ;       vsubx = Voltage corresponding to X position            p32a_2c


For the moment we will assume the other variables xdot and thetad1 are also directly observable. Thus our output vector Y consisting of observable states of the system becomes:

          p32a_3

which has the form

          p32a_4


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