FzzXWM3XWindowsIE64 MSWindowsDemoIP MBCS Ready'WRLDLINK _[Y ,T:?N0BHome@N@j`` >Home@b&fffff@j$y&\(RLINK 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@$@$?33@?33@??6b A RectanglemassLINK ????&??ffffff `-input[22]????UUU0b A RectanglepoinLINK (b APointpoinLINK t`(0.0)??`-{body[2].height}/2.0???b APointCSTRLINK nqp?b A Pin Joint~massLINK ?@D@D?&@?"|@@~K?33@?33@??6b A Rectangle poinLINK (?b AAnchor poinLINK (??b ASlot poinLINK (b A Square Point CSTRLINK oqp? b AKeyed Slot Joint LINK \J?p<Ptvb A Real (lambda)@ Input[13]LINK \J@p<Ptvb AImaginary (lambda)@ Input[14]LINK ],d`"t?Xnominal? ThetaNominal? X'nominal? Theta'Nominal?u<?vaJb APosition measurements@`time#??? `input[21]??LINK ],d`t?Xerror?? ThetaError?X'error? Theta'Error?u<?vJb AError measurements@L`time#???`body[1].p.x#-output[18].y1???`body[2].p.r#-output[18].y2???`body[1].v.x#-output[18].y3???`body[2].v.r#-output[18].y4???LINK ],d`>t?Real (lambda 1)?Imaginary (lambda 1)?Real (lambda 3)?Imaginary (lambda 3)?u<?vIb ALambda components@`time#??? `input[13]?? `input[14]?? `input[13]?? `input[14]??  LINK ],nd`t?z0?z1?z2?z3?u<?v@ib A values of z@^`time#???`sqr(output[15].y2)*sqr(output[15].y4)+sqr(output[15].y2)*sqr(output[15].y3)+sqr(output[15].y4)*sqr(output[15].y1)+sqr(output[15].y1)*sqr(output[15].y3)??`-2*output[15].y1*sqr(output[15].y4)-2*output[15].y1*sqr(output[15].y3)-2*output[15].y3*sqr(output[15].y2)-2*output[15].y3*sqr(output[15].y1)??j`sqr(output[15].y2)+sqr(output[15].y4)+sqr(output[15].y1)+sqr(output[15].y3)+4*output[15].y1*output[15].y3??!`-2*output[15].y1-2*output[15].y3??LINK ],d`t?k1?k2Z=p ?k3?k4?u<?vSb AFeedback Control Gains @.`time#???`-0.6966*output[16].y1??.`-6.8*output[16].y3-107.91+0.667*output[17].y1??`-0.6966*output[16].y2??'`-6.8*output[16].y4+0.667*output[17].y3?? LINK ],`t@'FcYAg Max( Fc )?x??Time?u<?vb AControl Force Fc@n`time#???q`-output[17].y1*output[19].y1+output[17].y2*output[19].y2-output[17].y3*output[19].y3+output[17].y4*output[19].y4??$`max( output[20].y1, output[20].y2 )?? `body[1].p.x#???`time#???poinLINK \`-{body[1].width}/2.0???b A Base PointCSTRLINK kT`output[20].y1???@(q?`output[20].y1??b AForce@0`output[20].y1??LINK \J@@f<Ptvb A X nominal@ Input[21]LINK \J? f<PtvZb AInitial Theta (radians)@ Input[22]LINK \J?@f<Ptvb A Initial X@ Input[23]