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%Ecuaciones:
syms x1 x2 u
x1p = x2;
x2p = (u/(m*l))-(g/l)*sin(x1)-(b/(m*l))*x2;
%Ecuaciones:
syms x1 x2 u
x1p = x2;
x2p = (u/(m*l))-(g/l)*sin(x1)-(b/(m*l))*x2;
%Campo vectorial:
u
= 0;
interval= -2*pi:0.5:2*pi;
[x1,x2] = meshgrid(interval);
x1p = eval(x1p);
x2p = eval(x2p);
quiver(x1,x2,x1p,x2p,0.5);
axis([-6 6 -6 6]);
hold on
%Linealizacin
f
= [x1p; x2p];
h
= x1;
A
= jacobian(f,[x1 x2])
B
= jacobian(f,u)
C
= jacobian(h,[x1 x2])
D
= jacobian(h,u)
%Punto de equilibrio:
u
= 0; %Equilibrio de la entrada impulso
xeq = solve(x1p,eval(x2p));
x1eq = double(xeq.x1)
x2eq = double(xeq.x2)
%Evaluando en el punto de equilibrio:
x1 = x1eq;
Aeq = eval(A)
%Estabilidad
eig(Aeq)
function xp = Ec_pend(t,x)
global g m l b
%Estados derivados del sistema
xp
= zeros(2,1);
xp(1) = x(2);
xp(2) = -(g/l)*sin(x(1))-(b/(m*l))*x(2);