FzzXWM3XWindowsIE64 MSWindowsDemoIP MBCS Ready'WRLDLINK _[Y ,T:?N0?ə>BHome@N@j`` >Home@b&fffff@l@{1jVjWRLINK VH?ə?PbM?ə!?6C-)h@?ə??PbM??PbMmassLINK U'poinLINK (b ASystem &Center of Mass'LINK .un_Mkg??un_Dm??unRtrad??un_CA??un_KK??unsmmole??un_Lcd??un_Ts??unFFN??unENJ??unWWW??unCHC??unRs??unVlV??unRV??unHz??unSp?? /s??rad/s??m/s^2??m/s??m^2??/m??kg-m^2??kg/m^2??kg/m-s?? N-m^2/kg^2??'LINK 'LINK  $'LINK  'CSTRLINK @#Q=W Ԇq?'$`- self.mass #* (9.8100000000000005)???b A'LINK  'CSTRLINK  Bq8?'b A'LINK  'CSTRLINK ?333333?333333qf`angle(self.v#)????'b A'LINK  'CSTRLINK !h`??`??`??q8?'b A'LINK Fk?ə? =p?'LINK 6eT91exMDTEXTttxtDTAexDC6eT98exVXMoVV avi .eT90exDXTEXTttxtDXF'LINK 'LINK 'LINK &LINK  &LINK &LINK &LINK &LINK massLINK ?ٙ?ٙ?ٙ?ٙ& `input[23]???ə@$@$b A RectanglemassLINK ????&?3,?" `-input[22]????UT*b A RectanglepoinLINK (b APointpoinLINK t`(0.0)??`-{body[2].height}/2.0???b APointCSTRLINK nqp?b A Pin Joint~poinLINK \`-{body[1].width}/2.0???b A Base PointCSTRLINK kT`output[20].y1???@(q?`output[20].y1??b AForce@0`output[20].y1??massLINK ?@D@D?&@?Ɯs=@@~K?33@?33@??6b A Rectangle poinLINK (?b AAnchor poinLINK (?b ASlot poinLINK (?qvTb A Square Point CSTRLINK oqp? b AKeyed Slot Joint LINK \Ji@i <PtvbAk1@ Input[13]LINK \Ji@i <PtvPbAk2@ Input[14]LINK \Ji@i <PtvbAk3@ Input[15]LINK \Ji@i( <PtvbAk4@ Input[16]LINK ],d`t?Xerror?? ThetaError?ə?X'error? Theta'Error?u<?vb AError measurements@ `time#???`body[1].p.x #- input[21]???`-body[2].p.r#??? `body[1].v.x#???`-body[2].v.r#???LINK ],{K`t@"Fc @ x??theta?ə?u<?vpb A Control force@(`time#???f`-input[13]*output[19].y1- input[14]*output[19].y2 - input[15]*output[19].y3 - input[16]*output[19].y4?? `body[1].p.x#???`-body[2].p.r#???  LINK \J@@b<PtvuHb A X nominal@ Input[21]LINK \J?ə陙?陙b<PtvGGb AInitial theta (radians)@ Input[22]LINK \J?@b<PtvFb A Initial x@ Input[23]LINK YhZPick the control constants k1, k2, k3, k4 so the block moves to x=0 and is vertical. Fc = -k1*x + -k2*theta + -k3*x' + -k4*theta'thbAText