## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system NonlinearMSD (NonlinearMSD_rep.txt)
## Generated by MTT on" Thu Mar  7 14:44:37 GMT 2002.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/12/28 11:58:07  peterg
## Put under RCS
##
###############################################################

mtt NonlinearMSD abg tex			# The system description
mtt NonlinearMSD sympar tex	        # The system parameters
## Uncomment the following lines or add others
## mtt NonlinearMSD dae tex	        # The system dae
mtt NonlinearMSD ode tex	        # The system ode 
mtt NonlinearMSD sspar tex		# Steady-state parameters
mtt NonlinearMSD ss tex 		# Steady state
## mtt NonlinearMSD dm tex		# Descriptor matrices (of linearised system)
mtt NonlinearMSD sm tex		# State matrices (of linearised system)
## mtt NonlinearMSD tf tex		# Transfer function (of linearised system)
## mtt NonlinearMSD lmfr ps		# log modulus of frequency response (of linearised system)
## mtt NonlinearMSD simpar tex		# Simulation parameters
mtt NonlinearMSD numpar tex		# Numerical simulation parameters
mtt NonlinearMSD state tex		# Simulation initial state
mtt NonlinearMSD input tex		# Simulation input
## mtt NonlinearMSD logic tex		# Logic control
mtt NonlinearMSD odeso ps		# Simulation output

## mtt NonlinearMSD rep txt		# This file

% Steady-state parameter file (NonlinearMSD_sspar.r)
% Generated by MTT at Thu Mar  7 10:39:15 GMT 2002

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% % Revision 1.1  2000/12/28 09:32:04  peterg
% % Initial revision
% %
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%% This one corresponds to the unstretched spring at theta = pi/3 
%% Note that U is calculated to give equilibrium for all angles

alpha := pi/3;

% Steady-state states
MTTX1 := 	eta;     %Initial angle (corresponds to u=0)
MTTX2 := 	0;        %Initial anglular velocity
% Steady-state inputs
MTTU1 := 	k*(l^2)*cos(MTTX1/2)*2*(sin(MTTX1/2)-sin(alpha/2));
;;END;

## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System NonlinearMSD, representation state, language txt; 
## File NonlinearMSD_state.txt; 
## Generated by MTT on Thu Mar  7 10:50:45 GMT 2002; 



NonlinearMSD_j	= 0.0;  % Initial angular momentum
NonlinearMSD_k	= eta; % Initial angle

## Plots the effective spring constant.

p = NonlinearMSD_numpar;	# Numerical parameters
s = NonlinearMSD_sympar		# Symbolic parameters

Eta = eta=[0:0.01:1]*pi; K = [];
for eta=Eta
  p(s.eta) = eta;		# Change the eta parameter
  A = NonlinearMSD_sm(p);	# SS A matrix
  k = -A(2,1);
  K = [K k];
endfor

grid;
ylabel("k");
xlabel("eta");
plot(Eta,K);
figfig("k","eps");