notes.txt: this file.
Makefile: control how things are compiled
dynamics.c, dynamics.h: dynamics for 3 link pendulum
linearize-dynamics.c: get the linearized model
traj.c: generate a trajectory (traj > d puts the data in d on Unix).
gains: gains for the controller in traj.c

****************************************************************

With assignment inertial parameters.
A:
    1.00175419506687   -0.012539279978796  0.00102341032093278   0.0100000000013978                    0                    0 
-0.00226712531807329     1.02773255785492 -0.00484525625719016                    0                 0.01                    0 
0.000571994137723588  -0.0169427828113834     1.00790454815286                    0                    0                 0.01 
   0.350839012973027    -2.50785599591834    0.204682064557156                    1                    0                    0 
  -0.453425063614659     5.54651157098414   -0.969051251438033                    0                    1                    0 
   0.114398827544718    -3.38855656227668     1.58090963057108                    0                    0                    1 
B:
5.74955771881491e-05 -0.000120673879777655 7.04532787665357e-05 
-0.000120673879538464 0.000272429242758877 -0.000186198175530816 
7.04532803206274e-05 -0.000186198175530816 0.000171934878417007 
  0.0114991153192733  -0.0241347759076928   0.0140906560641255 
 -0.0241347759076928   0.0544858485517753  -0.0372396351061632 
  0.0140906560641255  -0.0372396351061632   0.0343869756834013 

>> a = [     1.00175419506687   -0.012539279978796  0.00102341032093278   0.0100000000013978                    0                    0
-0.00226712531807329     1.02773255785492 -0.00484525625719016                    0                 0.01                    0
0.000571994137723588  -0.0169427828113834     1.00790454815286                    0                    0                 0.01
   0.350839012973027    -2.50785599591834    0.204682064557156                    1                    0                    0
  -0.453425063614659     5.54651157098414   -0.969051251438033                    0                    1                    0
   0.114398827544718    -3.38855656227668     1.58090963057108                    0                    0                    1
]

a =

    1.0018   -0.0125    0.0010    0.0100         0         0
   -0.0023    1.0277   -0.0048         0    0.0100         0
    0.0006   -0.0169    1.0079         0         0    0.0100
    0.3508   -2.5079    0.2047    1.0000         0         0
   -0.4534    5.5465   -0.9691         0    1.0000         0
    0.1144   -3.3886    1.5809         0         0    1.0000

>> b = [ 5.74955771881491e-05 -0.000120673879777655 7.04532787665357e-05
-0.000120673879538464 0.000272429242758877 -0.000186198175530816
7.04532803206274e-05 -0.000186198175530816 0.000171934878417007
  0.0114991153192733  -0.0241347759076928   0.0140906560641255
 -0.0241347759076928   0.0544858485517753  -0.0372396351061632
  0.0140906560641255  -0.0372396351061632   0.0343869756834013
]

b =

    0.0001   -0.0001    0.0001
   -0.0001    0.0003   -0.0002
    0.0001   -0.0002    0.0002
    0.0115   -0.0241    0.0141
   -0.0241    0.0545   -0.0372
    0.0141   -0.0372    0.0344

>> q = eye(6)

q =

     1     0     0     0     0     0
     0     1     0     0     0     0
     0     0     1     0     0     0
     0     0     0     1     0     0
     0     0     0     0     1     0
     0     0     0     0     0     1

>> r = eye(3)

r =

     1     0     0
     0     1     0
     0     0     1

>> [k,s,e] = dlqr(a,b,q,r)

k =

  922.3163  469.6460  173.2591  289.0890  174.1085   70.6169
  916.4877  790.5112  340.3184  301.7220  203.1064   92.9351
  150.9549  154.3044  217.5185   55.8501   44.7843   32.3076


s =

   1.0e+07 *

    3.0190    1.9725    0.8695    0.9683    0.6150    0.2696
    1.9725    1.3127    0.5890    0.6340    0.4046    0.1787
    0.8695    0.5890    0.2766    0.2803    0.1800    0.0807
    0.9683    0.6340    0.2803    0.3107    0.1974    0.0866
    0.6150    0.4046    0.1800    0.1974    0.1256    0.0553
    0.2696    0.1787    0.0807    0.0866    0.0553    0.0244


e =

    0.7343
    0.8100
    0.9026
    0.9113
    0.9692
    0.9697

*****************************************************************