https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&feed=atom&action=history
Feedback and Control Systems - Revision history
2024-03-28T13:23:39Z
Revision history for this page on the wiki
MediaWiki 1.39.1
https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&diff=11314&oldid=prev
Frohro: /* Links */
2015-05-12T00:13:32Z
<p><span dir="auto"><span class="autocomment">Links</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 17:13, 11 May 2015</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*[http://www.cds.caltech.edu/~murray/books/AM05/pdf/am08-complete_30Aug11.pdf Feedback Systems (textbook) Astrom & Murray]</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*[http://www.eolss.net/sample-chapters/c18/e6-43-13-09.pdf Bernard Friedland, Reduced Order Observer]</div></td>
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Frohro
https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&diff=11178&oldid=prev
Frohro: /* Links */
2014-06-12T21:24:54Z
<p><span dir="auto"><span class="autocomment">Links</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 14:24, 12 June 2014</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*[http://www.cds.caltech.edu/~murray/books/AM05/pdf/am08-complete_30Aug11.pdf Feedback Systems (textbook) Astrom & Murray]</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*[http://www.cds.caltech.edu/~murray/books/AM05/pdf/am08-complete_30Aug11.pdf Feedback Systems (textbook) Astrom & Murray]</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*[http://www.eolss.net/sample-chapters/c18/e6-43-13-09.pdf Bernard Friedland, Reduced Order Observer]</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*[http://www.eolss.net/sample-chapters/c18/e6-43-13-09.pdf Bernard Friedland, Reduced Order Observer]</div></td>
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Frohro
https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&diff=11145&oldid=prev
Frohro: /* Links */
2014-05-16T17:13:26Z
<p><span dir="auto"><span class="autocomment">Links</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 10:13, 16 May 2014</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Links ==</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*[http://www.cds.caltech.edu/~murray/books/AM05/pdf/am08-complete_30Aug11.pdf Feedback Systems (textbook) Astrom & Murray]</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*[http://www.cds.caltech.edu/~murray/books/AM05/pdf/am08-complete_30Aug11.pdf Feedback Systems (textbook) Astrom & Murray]</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>*[http://www.eolss.net/sample-chapters/c18/e6-43-13-09.pdf Bernard Friedland, Reduced Order Observer]</div></td>
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Frohro
https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&diff=10942&oldid=prev
Frohro at 22:05, 13 January 2014
2014-01-13T22:05:34Z
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 15:05, 13 January 2014</td>
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Frohro
https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&diff=10673&oldid=prev
Frohro: /* Inverted Pendulum Project */
2013-04-12T05:26:16Z
<p><span dir="auto"><span class="autocomment">Inverted Pendulum Project</span></span></p>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#[http://www.ee.usyd.edu.au/tutorials_online/matlab/examples/pend/invpen.html Modeling the Inverted Pendulum]</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#[http://www.ee.usyd.edu.au/tutorials_online/matlab/examples/pend/invpen.html Modeling the Inverted Pendulum]</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Octave Examples ==</div></td>
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Frohro
https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&diff=10237&oldid=prev
Frohro: /* Inverted Pendulum Project */
2011-03-15T21:02:14Z
<p><span dir="auto"><span class="autocomment">Inverted Pendulum Project</span></span></p>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>[http://www.ee.usyd.edu.au/tutorials_online/matlab/examples/pend/invpen.html Modeling the Inverted Pendulum]</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">#</ins>[http://www.ee.usyd.edu.au/tutorials_online/matlab/examples/pend/invpen.html Modeling the Inverted Pendulum]</div></td>
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Frohro
https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&diff=10236&oldid=prev
Frohro: /* Inverted Pendulum Project */
2011-03-15T21:01:54Z
<p><span dir="auto"><span class="autocomment">Inverted Pendulum Project</span></span></p>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Inverted Pendulum Project ==</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Inverted Pendulum Project ==</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Parameters]]</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Parameters]]</div></td>
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<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>[http://www.ee.usyd.edu.au/tutorials_online/matlab/examples/pend/invpen.html Modeling the Inverted Pendulum]</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Octave Examples ==</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Octave Examples ==</div></td>
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Frohro
https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&diff=10199&oldid=prev
Frohro: /* Inverted Pendulum Project */
2011-02-23T18:09:49Z
<p><span dir="auto"><span class="autocomment">Inverted Pendulum Project</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:09, 23 February 2011</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Inverted Pendulum Project ==</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Inverted Pendulum Project ==</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Parameters]]</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Parameters]]</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>== Octave Examples ==</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>[[RLC Circuit of February 10, 2011]]</div></td>
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Frohro
https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&diff=10198&oldid=prev
Frohro: /* Inverted Penululm Project */
2011-02-23T18:08:53Z
<p><span dir="auto"><span class="autocomment">Inverted Penululm Project</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:08, 23 February 2011</td>
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<td colspan="2" class="diff-lineno">Line 1:</td>
<td colspan="2" class="diff-lineno">Line 1:</td>
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<td class="diff-marker"><a class="mw-diff-movedpara-right" title="Paragraph was moved. Click to jump to old location." href="#movedpara_2_0_lhs">⚫</a></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><a name="movedpara_0_0_rhs"></a>== Inverted <ins style="font-weight: bold; text-decoration: none;">Pendulum</ins> Project ==</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td class="diff-marker"><a class="mw-diff-movedpara-left" title="Paragraph was moved. Click to jump to new location." href="#movedpara_0_0_rhs">⚫</a></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><a name="movedpara_2_0_lhs"></a>== Inverted <del style="font-weight: bold; text-decoration: none;">Penululm</del> Project ==</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Parameters]]</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Parameters]]</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Double Pendulum Parameters (Tentative: There are two pendulums with different parameters. I'm not sure which these go to.)</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Run parameters</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %f = input('Control Frequency (Hz) = ');</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %crad = input('Pole Radius (1/s) = ');</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %psi = input('Spreading Angle (deg) = ');</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %eta = psi*pi/180;</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %obshift = input('Observer Shift = ');</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %Trun = input('Run Time (s) = ');</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> f=130;</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> crad=19;</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> psi=10;</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> eta=psi*pi/180;</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> obshift=2;</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Trun=60;</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> kmax = round(f*Trun);</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> T = 1/f;</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Maxpos = 0.25; % Max carriage travel +- 0.25 m</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Maxangle = 0.175; % Max rod angle -- 10 deg</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Maxvoltage = 20; % Max motor voltage, V</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> pstart = 0.005; % Carriage position starting limit, m</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> astart = 1*pi/180; % Angle starting limit, rad</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> g = 9.81; % m/s^2 Gravitational constant</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % SYSTEM PARAMETERS</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Measured Mechanical Parameters</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> d1 = 0.323; % m Length of pendulum 1 (long)</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> d2 = 0.079; % m Length of pendulum 2 (short)</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %mp1 = 0.0208; % kg Mass of pendulum 1</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> mp1 = 0.0318;</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %mp2 = 0.0050; % kg Mass of pendulum 2</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> mp2 = 0.0085;</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> m = 0.3163; % kg Mass of carriage</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> rd = 0.0254/2; % m Drive pulley radius</div></td>
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<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> md = 0.0375; % kg Mass of drive pulley (cylinder)</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %mc1 = 0.0036; % kg Mass of clamp 1*</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %mc2 = 0.0036; % kg Mass of clamp 2*</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> mc1 = 0.0085;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> mc2 = mc1;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % *Clamp Dimensions</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Rectangular 0.0254 x 0.01143 m</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % The pivot shaft is 0.00714 m from the end</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Motor Parameters (Data Sheet)</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Im = 43e-7; % kg m^2/rad Rotor moment of inertia</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> R = 4.09; % ohms Resistance</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> kt = 0.0351; % Nm/A Torque constant</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> ke = 0.0351; % Vs/rad Back emf constant</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Derived Mechanical Parameters</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % kg m^2/rad Moment of inertia, clamp 1</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %Ic1 = mc1*(0.01143^2 + 0.0254^2)/12 + mc1*(0.0127-0.00714)^2;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Ic1 = mc1*(0.0098^2 + 0.0379^2)/12;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Ic2 = Ic1; % kg m^2/rad Moment of inertia, clamp 2</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Id = md*(rd^2)/2; % kg m^2/rad Moment of inertia, drive pulley</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Imd = Im + Id; % kg m^2/rad Moment of inertia, combined</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> J1 = Ic1 + mp1*(d1^2)/3; % Total moment of inertia, pendulum 1 (long)</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> J2 = Ic2 + mp2*(d2^2)/3; % Total moment of inertia, pendulum 2 (short)</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Jd = Im + Id; % Total moment of inertia, motor drive</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> Mc = m + mc1 + mc2; % Total carriage mass</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Friction Test Data</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Carriage Slope = 19 deg; Terminal Velocity xdotss = 0.312 m/s; From</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % twincarriage.m; formula b = m g sin(theta)/xdotss</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Pendulum 1 (long) Exponent a1 = 0.0756 1/s; From longfit.m</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Pendulum 2 (short) Exponent a2 = 0.2922 1/s; From shortfit.m</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % formula b = 2 a J</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %alpha = 19;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> alpha = 12.2;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %xdotss = 0.312;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> xdotss = 0.4852;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %a1 = 0.0756;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> %a2 = 0.2922;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> a1 = 0.0185;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> a2 = 0.012;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> % Ns/m Viscous friction of carriage system</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> b = (Mc + mp1 + mp2)*g*sin(alpha*pi/180)/xdotss;</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> b1 = 2*a1*J1; % Nms/rad Viscous friction of pendulum 1 (rotational)</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> b2 = 2*a2*J2; % Nms/rad Viscous friction of pendulum 2 (rotational)</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> scale = [rd*2*pi/4096 2*pi/4096 -0.05/250];</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> T = 1/f;</div></td>
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Frohro
https://fweb.wallawalla.edu/class-wiki/index.php?title=Feedback_and_Control_Systems&diff=10196&oldid=prev
Frohro: /* Inverted Penululm Project */
2011-02-23T18:03:04Z
<p><span dir="auto"><span class="autocomment">Inverted Penululm Project</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:03, 23 February 2011</td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>[Parameters]</div></td>
<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">[</ins>[Parameters<ins style="font-weight: bold; text-decoration: none;">]</ins>]</div></td>
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<tr>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> % Double Pendulum Parameters (Tentative: There are two pendulums with different parameters. I'm not sure which these go to.)</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> % Double Pendulum Parameters (Tentative: There are two pendulums with different parameters. I'm not sure which these go to.)</div></td>
</tr>
<tr>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
</tr>
</table>
Frohro