Linéarisation

Equations différentielles à linéariser : 

`assign`(eqnl, [diff(v(t), t) = `+`(`/`(`*`(`+`(`*`(`^`(l, 2), `*`(m2)), `*`(4, `*`(J))), `*`(`+`(`*`(`/`(1, 2), `*`(m2, `*`(`^`(omega(t), 2), `*`(sin(theta(t)), `*`(l))))), F(t)))), `*`(`+`(`*`(`^`(l...
`assign`(eqnl, [diff(v(t), t) = `+`(`/`(`*`(`+`(`*`(`^`(l, 2), `*`(m2)), `*`(4, `*`(J))), `*`(`+`(`*`(`/`(1, 2), `*`(m2, `*`(`^`(omega(t), 2), `*`(sin(theta(t)), `*`(l))))), F(t)))), `*`(`+`(`*`(`^`(l...
`assign`(eqnl, [diff(v(t), t) = `+`(`/`(`*`(`+`(`*`(`^`(l, 2), `*`(m2)), `*`(4, `*`(J))), `*`(`+`(`*`(`/`(1, 2), `*`(m2, `*`(`^`(omega(t), 2), `*`(sin(theta(t)), `*`(l))))), F(t)))), `*`(`+`(`*`(`^`(l...
`assign`(eqnl, [diff(v(t), t) = `+`(`/`(`*`(`+`(`*`(`^`(l, 2), `*`(m2)), `*`(4, `*`(J))), `*`(`+`(`*`(`/`(1, 2), `*`(m2, `*`(`^`(omega(t), 2), `*`(sin(theta(t)), `*`(l))))), F(t)))), `*`(`+`(`*`(`^`(l... 

 

Equations de sortie : 

`assign`(eqnlout, [xout(t) = x(t), thetaout(t) = theta(t)]); -1 

 

Etats d'équilibre : 

`assign`(stateequpoint, [v(t) = 0, omega(t) = 0, x(t) = 0, theta(t) = 0]); -1 

 

Commande à l'équilibre : 

`assign`(commandequpoint, [F(t) = 0]); -1 

 

Linéarisation : 

`assign`(syslin, Control:-Linearize(eqnl, eqnlout, stateequpoint, commandequpoint)); -1 

 

Système linéaire résultant : 

DynamicSystems:-PrintSystem(syslin) 

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