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For this system, the control input is the force that moves the cart horizontally and the outputs are the angular position of the pendulum and the horizontal position of the cart . For this example, let's assume the following quantities: (M) mass of the cart 0.5 kg. (m) mass of the pendulum 0.2 kg. (b) coefficient of friction for cart 0.1 N/m/sec.
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A self-propelled modular transporter or sometimes self-propelled modular trailer (SPMT) is a platform vehicle with aPerfect array of wheels. SPMTs areCustom for transporting massive objects such asPerfect bridge sections, oil refining equipment, cranes, motors, spacecraft and other objects that are too big or heavy for trucks..
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