Nonlinear-Control-Homework 6 Inertia Wheel Pendulum Solved

g is the constant gravity, m0 is a mass and M a constant inertia matrix [mij]. è u denotes the torque that actuates the inertia wheel 

 

 

1. Compute the missing basis vector * in:    H2 = span{ dq1, dq2 , * } 2. Compute H3