Chapter 3 Ordinary Differential Equation

• 3.1 motion of simple pendulum
• equation of motion of simple pendulum

• Problem 3 stabilizing holonomic constraint
• equation of motion of simple pendulum (Cartesian coordinate system)
• Problem 4 stabilizing Pfaffian constraint
• equation of motion of car
• Problem 5 open link mechanism (2DOF) inertia matrix
• Problem 5 open link mechanism (2DOF) velocity quadratic terms and gravity terms
• Problem 5 open link mechanism (2DOF) PD control
• open link mechanism (2DOF) canonical form of PD control
• Problem 5 open link mechanism (2DOF) PID control
• open link mechanism (2DOF) canonical form of PID control
• Problem 7 solving stiff ordinary differential equation
• equation of motion with collision