gTwoLink_cse.tex

MTT command:

mtt gTwoLink cse tex

$$\dot \chi_{1} = { {\left (2 \cos{\left (x_{2} - x_{4}\right )} j^... ...2} - 2 x_{4}\right )} l^4 m^2 - j^2 - 6 j l^2 m - 3 l^4 m^2\right )}\right )} }$$ (10.4)

$$\dot \chi_{2} = { x_{1} \over j }$$ (10.5)

$$\dot \chi_{3} = { {\left (2 \cos{\left (x_{2} - x_{4}\right )} j^... ...2} - 2 x_{4}\right )} l^4 m^2 - j^2 - 6 j l^2 m - 3 l^4 m^2\right )}\right )} }$$ (10.6)

$$\dot \chi_{4} = { x_{3} \over j }$$ (10.7)

$$\dot \chi_{5} = { u_{3} }$$ (10.8)

$$y_{1} = { x_{1} \over j }$$ (10.9)

$$y_{2} = { {\left ( - x_{1} + x_{3}\right )} \over j }$$ (10.10)

$$E = \begin{pmatrix}{{\left (j + 5 l^2 m\right )} \over j} & {0} &... ...} \cr {0} & {0} & {0} & {1} & {0} \cr {0} & {0} & {0} & {0} & {1} \end{pmatrix}$$ (10.11)