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| clear all
clc
close all
%Initialisation
CI1=[-0.151,0.467];
CI2=[-0.2,0.791];
CI3=[0.2,-0.791];
CI4=[0.151,-0.467];
g=9.8;
pas=0.02;
z=0.8;
Tc=sqrt(z/g);
t=0:pas:0.8;
%solution de l'equation dynamique du pendule inverse lieaire avec une hauteur z constante
x1=CI1(1)*cosh(t/Tc)+Tc*CI1(2)*sinh(t/Tc);
%v=(CI1(1)/Tc)*sinh(t/Tc)+CI1(2)*cosh(t/Tc);
x2=CI2(1)*cosh(t/Tc)+Tc*CI2(2)*sinh(t/Tc);
x3=CI3(1)*cosh(t/Tc)+Tc*CI3(2)*sinh(t/Tc);
x4=CI4(1)*cosh(t/Tc)+Tc*CI4(2)*sinh(t/Tc);
%Trace des grahes
hold on,
figure(1)
subplot(2,2,1),plot(t,x1,'b'),title('simulation de la position x1'),grid;
subplot(2,2,2),plot(t,x2,'b'),title('simulation de la position x2'),grid;
subplot(2,2,3),plot(t,x3,'b'),title('simulation de la position x3'),grid;
subplot(2,2,4),plot(t,x4,'b'),title('simulation de la position x4'),grid;
hold off, |
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