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TwoLinkxyc_cse.tex

MTT command:
mtt TwoLinkxyc cse tex

$\displaystyle \dot \chi_{1} = { {\left (l {\left (2 \cos{\left (x_{2} - 2 x_{4}...
...2} - 2 x_{4}\right )} l^4 m^2 - j^2 - 6 j l^2 m - 3 l^4 m^2\right )}\right )} }$ (8.4)

$\displaystyle \dot \chi_{2} = { x_{1} \over j }$ (8.5)

$\displaystyle \dot \chi_{3} = { {\left (l {\left (2 \cos{\left (2 x_{2} - x_{4}...
...} - 2 x_{4}\right )} l^4 m ^2 - j^2 - 6 j l^2 m - 3 l^4 m^2\right )}\right )} }$ (8.6)

$\displaystyle \dot \chi_{4} = { x_{3} \over j }$ (8.7)

$\displaystyle \dot \chi_{5} = { u_{3} }$ (8.8)

$\displaystyle y_{1} = { {\left ( - 2 l {\left (\cos{\left (x_{2}\right )} x_{1} + \cos{\left (x_{4}\right )} x_{3}\right )}\right )} \over j }$ (8.9)

$\displaystyle y_{2} = { {\left (2 \sin{\left (x_{2}\right )} l x_{1} + 2 \sin{\left (x_{4}\right )} l x_{3} + j x_{5}\right )} \over j }$ (8.10)

$\displaystyle E = \begin{pmatrix}{{\left (j + 5 l^2 m\right )} \over j} & {0} &...
...} \cr {0} & {0} & {0} & {1} & {0} \cr {0} & {0} & {0} & {0} & {1} \end{pmatrix}$ (8.11)


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