function [ dX ] = CartDynamics( X, F ) %cart dynamics (Sp19 version) % cart = 1kg % ball = 2kg % length = 1m % X = [x, q, dx, dq] x = X(1); q = X(2); dx = X(3); dq = X(4); g = 9.8; M = [3, 2*cos(q); cos(q), 1]; A = [2*dq*dq*sin(q); g*sin(q)]; B = [1;0]; d2X = inv(M) * (A + B*F); dX = [dx; dq; d2X]; end