Funcion.txt
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function xp=pendulo(t,x) q=x(1); %posicion articular qp=x(2); %velocidad articular %parametros del pendulo m=5; %masa lc=0.01; %centro de masa g=9.81; %constante de aceleracion gravedad b=0;%0.17; %coeficiente de friccion viscosa fc=0;%0.45; %coeficiente de friccion coulomb ir=0.16; %momento de inercia del rotor tau=0;% 1.5*sin(t); %par aplicado %aceleracion del pendulo %qpp=(tau-b*qp-fc*tanh(100000*qp)-m*g*lc*sin(q))/ir; qpp=(tau-m*g*lc*cos(q))/(m*lc^2+ir); %Vector salida xp=[qp; %xp(1)=x(2) velocidad articular qpp]; %xp(2)=qpp aceleracion articular end
