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Animated simulation of an autonomous gyro pendulum

The dynamical behavior of this pendulum is described by

a denotes the angular position of the pendulum and b the angular position of the gyro. w is the rotational speed of the gyro.
Observe the effects of JP and of the maximum current Imax on the system during the swing-up phase.

Change the values of both parameters to see the effects on the system.
Imax A
JP kgm2

Here enter MATLAB commands

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Pressing the mouse on the pendulum rotational shaft a momentum can be entered.

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