The cart shown in Figure 1 must be moved so that mass m is always in...

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The cart shown in Figure 1 must be moved so that mass m is always in the upright position. The linearized equations of motion of the system are: Mÿ(t) + mlö(t) — u(t) = 0 mlÿj(t) + ml²Ï(t) – mlg0(t) = 0 - where u(t) is the input force. Assume that M >> m. Find the state space equations. m l 0 (t) M [9 u(t) Figure 1: Cartpole The cart shown in Figure 1 must be moved so that mass m is always in the upright position. The linearized equations of motion of the system are: Mÿ(t) + mlö(t) — u(t) = 0 mlÿj(t) + ml²Ï(t) – mlg0(t) = 0 - where u(t) is the input force. Assume that M >> m. Find the state space equations. m l 0 (t) M [9 u(t) Figure 1: Cartpole

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Step1 We can start by defining the state variables of the system Let y be the ... View the full answer