gTwoLink_dae.tex

MTT command:

mtt gTwoLink dae tex

$$\begin{aligned}\dot x_{1} &= { \cos{\left (x_{2}\right )} l \... ... &= { x_{3} \over j } \cr \dot x_{5} &= { u_{3} } \end{aligned}$$

$$\begin{aligned}z_{1} &= { {\left ( - \cos{\left (x_{2}\right ... ... )} l x_{3} + j x_{5}\right )}\right )} \over j } \end{aligned}$$

$$\begin{aligned}y_{1} &= { x_{1} \over j } \cr y_{2} &= { {\left ( - x_{1} + x_{3}\right )} \over j } \end{aligned}$$