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f1=x2;
f2=(-g/l)*sin(x1) +(1/(m*l^2))*Tc;
% estados
x=[x1;x2];
% puntos de equilibrio
x1=0; % theta
x2=0; % dtheta
% | df1/dx1 df1/dx2 |
%A=| |
% | df2/dx1 df2/dx2 |
A=subs(jacobian(f,x));
B=subs(jacobian(f,U));
% usando parametros
A=subs(A,{'g','m','l','Tc'},[9.8,0.2,1,1]);
B=subs(B,{'g','m','l','Tc'},[9.8,0.2,1,1]);
Ac=double(A);
Bc=double(B);
Cc=[1 0];
Dc=0;
t=0:0.01:5;
F=tf(N,D);
printsys(N,D,'s')