nonlinear

代码说明：

  The Reaction Wheel Pendulum is a physical pendulum with a symmetric disk attached to the end which is free to spin about an axis parallel to the axis of rotation of the pendulum. The disk is actuated by a DC-motor and the coupling torque generated by the angular acceleration of the disk can be used to actively control the system. in this simulation We show that the system is locally feedback linearizable by a local diffeomorphism in state space and nonlinear feedback. in this simultion q1 is the pendulum angle, q2 is the disk angle,
taoh is the motor torque input