Pendulum_cse.tex

MTT command:

mtt Pendulum cse tex

$$\dot \chi_{1} = { {\left (j {\left ( - \sin{\left (x_{2}\right )} l m u_{2} + u_{1}\right )}\right )} \over {\left (j + l^2 m\right )} }$$ (6.4)

$$\dot \chi_{2} = { x_{1} \over j }$$ (6.5)

$$\dot \chi_{3} = { u_{2} }$$ (6.6)

$$y_{1} = { x_{1} \over j }$$ (6.7)

$$E = \begin{pmatrix}{{\left (j + l^2 m\right )} \over j} & {0} & {0} \cr {0} & {1} & {0} \cr {0} & {0} & {1} \end{pmatrix}$$ (6.8)