Download - Helmut Büch, Gifhorn
Download - Helmut Büch, Gifhorn
Download - Helmut Büch, Gifhorn
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f(ˆx, û) = 0<br />
<br />
k ∈ Nk <br />
ˆx1 = ˆ ϑ = kπ ˆx2 =ˆ˙x2 = 0 û = ˆg<br />
<br />
δϑ = ϑ − ˆ ϑ δ ˙ ϑ = ˙ ϑ −ˆ˙ϑ = ˙ ϑ<br />
<br />
⎧ <br />
⎨ ˙ϑ<br />
¨ϑ<br />
⎩<br />
<br />
0<br />
=<br />
−<br />
1<br />
ˆg<br />
y<br />
l cos(ϑ)<br />
= δϑ<br />
<br />
δϑ<br />
0 ˙ϑ<br />
=<br />
˙ϑ<br />
<br />
ˆϑ = 0 ˆ˙ϑ = 0 ˆg = 9.81 2<br />
− ˆg<br />
l cos( ˆ ϑ)δϑ<br />
<br />
⎧ <br />
⎨ ˙ϑ ˙ϑ<br />
¨ϑ<br />
=<br />
−<br />
⎩<br />
ˆg<br />
l ϑ<br />
<br />
y = ϑ<br />
<br />
(5.3)<br />
<br />
<br />
g<br />
− ˆg<br />
l<br />
¨ϑ<br />
˙ϑ0<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
˙ϑ<br />
ϑ0<br />
<br />
ϑ<br />
(5.4