Untitled

M = 0.5;

m = 0.5;

b = 0;

I = 0.006;

g = -9.80665;

l = 0.3;

q = (M+m)*(I+m*l^2)-(m*l)^2;

s = tf('s');

P_cart = (((I+m*l^2)/q)*s^2 - (m*g*l/q))/(s^4 + (b*(I + m*l^2))*s^3/q - ((M + m)*m*g*l)*s^2/q - b*m*g*l*s/q)

P_cart = 0.051 s^2 + 1.471 ---------------------- 0.0285 s^4 + 1.471 s^2 Continuous-time transfer function.

P_pend = (m*l*s/q)/(s^3 + (b*(I + m*l^2))*s^2/q - ((M + m)*m*g*l)*s/q - b*m*g*l/q)

P_pend = 0.004275 s ------------------------- 0.0008122 s^3 + 0.04192 s Continuous-time transfer function.

pzplot (P_pend)

h = impulseplot(P_pend); % Use this command to return plot handle to programmatically customize the plot.

p = getoptions(h);

p.XLim = {[0, 1]};

p.YLim = {[-1, 1]};

setoptions(h,p);

h = stepplot(P_pend); % Use this command to return plot handle to programmatically customize the plot.

p = getoptions(h);

p.XLim = {[0, 1]};

p.YLim = {[-1, 1]};

setoptions(h,p);

rlocus (P_pend)

bode (P_pend)

nyquist (P_pend)