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Code covered by the BSD License  

Highlights from
TP Tool

from TP Tool by P. Baranyi, Z. Petres, Sz. Nagy
MATLAB Toolbox providing the functions for TP Model Transformation based Control Design

pend_dx(u, x) 
function dx = pend_dx(u, x)

M = 1;   % kg
m = 0.3; % kg
g = 9.81;% m s^-2
L = 0.6; % m

a = x(2);
da = x(4);

if a == 0
	sinca = 1;
else
	sinca = sin(a)/a;
end

E = [...
	eye(2,2) zeros(2,2);
	zeros(2,2) [M/m+1, L*cos(a); cos(a), 4/3*L]];
A = [...
	zeros(2,2) eye(2,2);
	[0 0; 0 g*sinca] [0 L*da*sin(a); 0 0]];

B = [0 0 1/m 0]';

% E dx = A x + B u
piE = pinv(E);
dx = piE*A*x + piE*B*u;

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