Сижу я делаю домашнее задание по ТАУ:)
Задача номер два про перевернутый маятник.

"We are interested in the problem of balancing an inverted pendulum on a cart as shown
in the ¯gure below and therefore we would like to obtain a state-space model of it for
future studies later in the course. In the model µ(t) is the angle of the pendulum clockwise
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