%% Reduce comands to simplify output for system InvertedPendulumT (InvertedPendulumT_simp.r)
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% %% Version control history
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% %% $Id$
% %% $Log$
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trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
cos(~x)^2 => (1+cos(2*x))/2,
sin(~x)^2 => (1-cos(2*x))/2};
LET trig1;
m_1 := m;
l_1 := l;
j_1 := j;
mg := m*g;
j := m*l*l/12;
%l:=1;
alpha_c1 := 2;
alpha_c2 := 1;
alpha_o1 := 20;
alpha_o2 := 100;
ORDER s,m,g;
END;