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Input-Output Linearization of planar 3-link manipulator

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from Input-Output Linearization of planar 3-link manipulator by Vikash Gupta
Control of 3-link manipulator

Fx=equax(x) 
function Fx=equax(x)
global Xi Xf T f_i;
Fx=[((x(1)*T^5 + x(2)*(T^4) + x(3)*(T^3) +(T^2)*f_i/2+Xi-Xf));
    ((5*T^4)*x(1)+ (4*(T^3))*x(2)+3*(T^2)*x(3)+2*T*(f_i/2));
    ((20*(T^3)*x(1)+12*(T^2)*x(2)+ 6*T*x(3) + 2*(f_i/2)))];
end

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