InvertedPendulumOnCart_dae.tex

MTT command:

mtt InvertedPendulumOnCart dae tex

$$\begin{aligned}\dot x_{1} &= { {\left (m_{c} \dot z_1 + m_{c}... ...r j_{r} } \cr \dot x_{4} &= { x_{3} \over j_{r} } \end{aligned}$$

$$\begin{aligned}z_{1} &= { {\left (m_{r} {\left (\cos{\left (x... ...{4}\right )} l m_{r} x_{3}\right )} \over j_{r} } \end{aligned}$$

$$\begin{aligned}y_{1} &= { x_{2} } \cr y_{2} &= { x_{4} } \end{aligned}$$