TwoLink_dae.tex

MTT command:

mtt TwoLink dae tex

$$\begin{aligned}\dot x_{1} &= { \cos{\left (x_{2}\right )} l_{... ...+ u_{2} } \cr \dot x_{4} &= { x_{3} \over j_{2} } \end{aligned}$$

$$\begin{aligned}z_{1} &= { {\left ( - \cos{\left (x_{2}\right ... ... )}\right )} \over {\left (j_{1} j_{2}\right )} } \end{aligned}$$

$$\begin{aligned}y_{1} &= { x_{1} \over j_{1} } \cr y_{2} &= { ... ...{1}\right )} \over {\left (j_{1} j_{2}\right )} } \end{aligned}$$