Mayalan 2015
La figura 3 muestra el diagrama de flujo del
programa en Simulink que levanta y controla al
pendulo. Inicia intentando levantar al pendulo
haciendolo entrar en resonancia, verficando en
cada ciclo si el angulo es menor a 10 sin un
tiempo lmite para ello; cuando finalmente el
angulo esta dentro del rango, el programa conmuta al algoritmo
de control, como se describe
abajo.
Mayalan 2015
The system has two sets of mutually-perpendicular right-handed
unit
vectors, namely bx, by, bz and
nx, ny, nz. These two sets of vectors are drawn in a
geometrically suggestive
way below. One way to
calculate the first row of the bRn rotation matrix is by
expressing bx in
terms of nx, ny, nz, and then
filling in the first row of bRn as shown below. Similarly, the
second and
third rows of bRn are calculated
by expressing by and bz in terms of nx, ny, nz, and filling in
the second and
third rows of bRn.
