% Cart and Pendulum % EC 463 Lecture 7 % main calling routine X = [0; 0.02 ; 0 ; 0]; dX = zeros(4,1); Ref = 1; dt = 0.01; t = 0; y = []; while(t < 1.6) Ref = 1; U = 0; dX = CartDynamics(X, U); X = X + dX * dt; t = t + dt; CartDisplay(X, Ref); y = [y ; X(1), X(2)]; end t = [1:length(y)]'; plot(t,y);