Damped pendulum: CFG1 - ivo-georgiev/ukfLib GitHub Wiki

• Configuration file: ukfCfg1.c
• Simulink model: ukf_cfg1.slx

Free pendulum discrete time equations:
(free Latex editor1: convert all math equations)
OR,
(free Latex editor2: convert all math equations)\

• thetha(k) = thetha(k-1) + dT*thetha_dot(k-1)

• tetha_dot(k) = tetha_dot(k-1) * (1 - (dt * B)/m) - (dt * g)/L) * sin(tetha(k-1))
  where,

• g = 9.81 [m/s^2]

• L = 0.61 [m]

• B = 0.5 []

• m = 0.5 [kg]

• dt = 0.0001 [s]

• Simulation results