%Controller parameters

m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=95;
nu =0;
Kp = 0;
Kv =0.03;
%Initial conditions
q10 = -pi/7;
q20 = 0;
p10 = .00755;
p20 = 0.001;

stoptime =3;
1

q (rad)

q (rad)

0.5

-0.5

0.5
t(sec)

p (kg.rad/sec)
0

0.5
t(sec)

10
0
-10

X: 0.7859
Y: 0.5008

0.5
t(sec)

0.5
t(sec)

0.5
t(sec)

0.2
0
-0.2

Hd(Joul)

Torque(N.m)

0
-0.01

0.01

p (kg.rad/sec)

0.5

X: 0.04675 0.5
Y: -7.969

t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=120;
nu =0;
Kp = 0;
Kv =0.029;

-10
-20

%Initial conditions
q10 = -pi/6;
q20 = 0;
p10 = .009999;
p20 = 0.002;

stoptime =2;

q (rad)

-1

0.5

1
t(sec)

1.5

p (kg.rad/sec)
0

0.5

1
t(sec)

1.5

20
0
-20

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

Hd(Joul)

Torque(N.m)

0
-0.02

0.02

p (kg.rad/sec)

X: 1.331
Y: 0.6157

q (rad)

X: 0.05033

0 Y: -11.05
0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=160;
nu =0;
Kp = 0;
Kv =0.03;
%Initial conditions
q10 = -pi/5;
q20 = 0;
p10 = .0145;
p20 = 0.007;

stoptime =2;

1.5

-10
-20

q (rad)

-1

0.5

1
t(sec)

1.5

p (kg.rad/sec)

-0.05

0.5

1
t(sec)

1.5

20
X: 0.04954
Y: -15.19

0
-20

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

20

Hd(Joul)

Torque(N.m)

1
0

0.05

p (kg.rad/sec)

X: 1.743
Y: 0.7769

q (rad)

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=160;
nu =0;
Kp = 0;
Kv =0.03;
%Initial conditions
q10 = pi/5;
q20 = 0;
p10 = -.0145;
p20 = -0.007;

stoptime =2;

1.5

0
-20

q (rad)
0

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.5

1
t(sec)

1.5

20
X: 0.04954
Y: 15.19

0
-20

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

20

Hd(Joul)

0
-0.05

-2

0.05

Torque(N.m)

-1

0
-1

p (kg.rad/sec)

X: 1.682
Y: -0.777

q (rad)

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=210;
nu =0;
Kp = 0;
Kv =0.03;
%Initial conditions
q10 = pi/4;
q20 = 0;
p10 = -.021;
p20 = -0.032;

stoptime =2;

1.5

0
-20

q (rad)

0.5

1
t(sec)

1.5

-1

p (kg.rad/sec)

0.1

0
-0.1

-2

0.5

1
t(sec)

1.5

20
0
-20

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

50

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

X: 1.764
Y: -1.22

q (rad)

0.5
1
X: 0.1116
Y: -19.9 t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=215;
nu =0;
Kp = 0;
Kv =0.03;
%Initial conditions
q10 = pi/3.9;
q20 = 0;
p10 = -.021;
p20 = -0.032;

stoptime =2;

1.5

0
-50

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-4

0.5

1
t(sec)

1.5

50

X: 1.861
Y: -1.348

0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

50

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

-2

q (rad)

X: 0.1595
Y: 20.51

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=235;
nu =0;
Kp = 0;
Kv =0.037;
%Initial conditions
q10 = pi/3.85;
q20 = 0;
p10 = -.022;
p20 = -0.032;

stoptime =2;

1.5

0
-50

q (rad)
0

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-4

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

50

Hd(Joul)

p (kg.rad/sec)

-2

0
-1

Torque(N.m)

X: 1.743
Y: -1.6

q (rad)

X: 0.1656
Y: 22.4

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=238;
nu =0;
Kp = 0;
Kv =0.041;
%Initial conditions
q10 = pi/3.84;
q20 = 0;
p10 = -.025;
p20 = -0.037;

stoptime =2;

1.5

0
-50

q (rad)
0

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-4

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

50

Hd(Joul)

p (kg.rad/sec)

-2

0
-1

Torque(N.m)

X: 1.552
Y: -1.36

q (rad)

X: 0.111
Y: -22.67
0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=238;
nu =0;
Kp = 0;
Kv =0.039;
%Initial conditions
q10 = pi/3.84;
q20 = 0;
p10 = -.023;
p20 = -0.032;

stoptime =2;

1.5

0
-50

q (rad)
0

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-4

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

50

Hd(Joul)

p (kg.rad/sec)

-2

0
-1

Torque(N.m)

X: 1.84
Y: -1.515

q (rad)

X: 0.1573
Y: 22.68

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=240;
nu =0;
Kp = 0;
Kv =0.04;
%Initial conditions
q10 = pi/3.81;
q20 = 0.7;
p10 = -.0234;
p20 = -0.027;

stoptime =2;

1.5

0
-50

q (rad)

q (rad)

-1

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

Torque(N.m)

X: 0.1605
Y: 22.87

0.5

1
t(sec)

1.5

-50

q (rad)

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

X: 1.831
Y: -0.88

q (rad)

0
-1

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-2

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

50

Hd(Joul)

1.5

p (kg.rad/sec)

1
t(sec)

50

Hd(Joul)

-0.5

50

-50

0.5

0.5

p (kg.rad/sec)

p (kg.rad/sec)

0
-0.1

-2

0.1

Torque(N.m)

X: 1.831
Y: -0.88

X: 0.1605
Y: 22.87

0.5

1
t(sec)

1.5

0
-50

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=239;
nu =0;
Kp = 0;
Kv =0.038;
%Initial conditions
q10 = pi/3.79;
q20 = .1;
p10 = -0.023;
p20 = -0.0221;

stoptime =2;

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-5

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

100

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

X: 1.895
Y: -1.895

q (rad)

X: 0.1861
Y: 22.8

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=235;
nu =0;
Kp = 0;
Kv =0.035;

1.5

0
-100

%Initial conditions
q10 = pi/3.7;
q20 = .2;
p10 = -0.024;
p20 = -0.001;

stoptime =2;

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-5

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

100

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

X: 1.857
Y: -2.13

q (rad)

X: 0.2174
Y: 22.47

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=237;
nu =0;
Kp = 0;
Kv =0.0348;
%Initial conditions
q10 = pi/3.65;
q20 = 0.1;
p10 = -0.0255;
p20 = -0.001;

stoptime =2;

1.5

0
-100

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-5

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

100

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

q (rad)

0.5

1
t(sec)

1.5

The effect of Kp

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=237;
nu =0;
Kp = 0.00875;
Kv =0.0348;
%Initial conditions
q10 = pi/3.65;
q20 = 0.1;
p10 = -0.0255;
p20 = -0.001;

0
-100

stoptime =2;5

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-5

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

100

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

X: 1.919
Y: -2.28

q (rad)

X: 0.219
Y: 22.72

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=237.5;
nu =0;
Kp = 0.0277;
Kv =0.0346;
%Initial conditions
q10 = pi/3.6;
q20 = 0.1;
p10 = -0.0269;
p20 = -0.001;

stoptime =2;

1.5

0
-100

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-5

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

100

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

X: 1.927
Y: -1.73

q (rad)

X: 0.1964
Y: 22.81

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=239;
nu =0;
Kp = 0.05570;
Kv =0.0340;
%Initial conditions
q10 = pi/3.5;
q20 = 0.1;
p10 = -0.0299;
p20 = -0.001;

stoptime =2;

1.5

0
-100

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-5

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

100

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

X: 1.867
Y: -1.19

q (rad)

X: 0.1815
Y: 23.03

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=240;
nu =0;
Kp = 0.060;
Kv =0.0338;
%Initial conditions
q10 = pi/3.4;
q20 = 0.1;
p10 = -0.0325;
p20 = -0.001;

stoptime =2;

1.5

0
-100

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-5

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

100

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

X: 1.901
Y: -1.49

q (rad)

X: 0.1913
Y: 23.14

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=241;
nu =0;
Kp = 0.0750;
Kv =0.033;
%Initial conditions
q10 = pi/3.3;
q20 = 0.1;
p10 = -0.0353;
p20 = -0.001;

stoptime =2;

1.5

0
-100

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-5

0.5

1
t(sec)

1.5

50
0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

100

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

X: 1.9
Y: -1.17

q (rad)

X: 0.1926
Y: 23.33

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=249;
nu =0;
Kp = 0.12;
Kv =0.03;
%Initial conditions
q10 = pi/3.0;
q20 = 0.355;
p10 = -0.044;
p20 = -0.001;

stoptime =2;

1.5

0
-100

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-5

0.5

1
t(sec)

1.5

50
X: 0.2245
Y: 23.9

0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

100

Hd(Joul)

p (kg.rad/sec)

-2

Torque(N.m)

X: 1.971
Y: -0.552

q (rad)

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=251;
nu =0;
Kp = 0.17;
Kv =0.030;
%Initial conditions
q10 = pi/2.9;
q20 = 0.39;
p10 = -0.047;
p20 = -0.001;

stoptime =2;

1.5

0
-100

q (rad)

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0.1

0
-0.1

-5

0.5

1
t(sec)

1.5

50
X: 0.2218
Y: 24.11

0
-50

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5
0
-0.5

100

Hd(Joul)

p (kg.rad/sec)

-2

Torque(N.m)

X: 1.958
Y: -0.303

q (rad)

0.5

1
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=253;
nu =0;
Kp = 0.24;
Kv =0.029;
%Initial conditions
q10 = pi/2.8;
q20 = 0.4373;
p10 = -0.050;
p20 = -0.001;

stoptime =3;

1.5

0
-100

q (rad)

5
0

q (rad)

-2

-5

X: 2.979
Y: -0.03

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.308
Y: 24.33

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=255;
nu =0;
Kp = 0.314;
Kv =0.029;
%Initial conditions
q10 = pi/2.7;
q20 = 0.44;
p10 = -0.054;
p20 = -0.001;

stoptime =3;

X: 0.05872
Y: 54.55

0
-100

1
t(sec)

q (rad)

2
0

q (rad)

-2

-2

X: 2.612
Y: -0.08911

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.2881
Y: 24.59

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=257;
nu =0;
Kp = 0.3607;
Kv =0.029;
%Initial conditions
q10 = pi/2.6;
q20 = 0.44;
p10 = -0.0576;
p20 = -0.001;

stoptime =3;

X: 0.05564
Y: 51.95

0
-100

1
t(sec)

q (rad)

2
0

q (rad)

-2

-2

X: 2.692
Y: -0.005464

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.287
Y: 24.74

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=259;
nu =0;
Kp = 0.40;
Kv =0.029;
%Initial conditions
q10 = pi/2.5;
q20 = 0.44;
p10 = -0.059;
p20 = -0.001;

stoptime =3;

X: 0.05709
Y: 50.24

0
-100

1
t(sec)

q (rad)

10
0

q (rad)

-5

-10

0.2

-1

t(sec)

50

100

Hd(Joul)

Torque(N.m)

t(sec)

0
-50

0
-0.2

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=258;
nu =0;
Kp = 0.3702;
Kv =0.029;
%Initial conditions
q10 = pi/2.59;
q20 = 0.44;
p10 = -0.058;
p20 = -0.001;

stoptime =3;

0
-100

1
t(sec)

q (rad)

2
0

q (rad)

-2

-2

X: 2.982
Y: -0.01672

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.2876
Y: 24.92

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=259;
nu =0;
Kp = 0.3701;
Kv =0.029;
%Initial conditions
q10 = pi/2.55;
q20 = 0.44306;
p10 = -0.0587;
p20 = -0.001;

stoptime =3;

X: 0.05717
Y: 50.34

0
-100

1
t(sec)

q (rad)

2
0

q (rad)

-2

-2

X: 2.636
Y: -0.0333

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.2941
Y: 24.9

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=260;
nu =0;
Kp = 0.37023;
Kv =0.029;
%Initial conditions
q10 = pi/2.54;
q20 = 0.444;
p10 = -0.05876;
p20 = -0.001;

stoptime =3;
%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=261;
nu =0;
Kp = 0.37021;
Kv =0.029;
%Initial conditions

X: 0.05734
Y: 51.86

0
-100

1
t(sec)

q10
q20
p10
p20

=
=
=
=

pi/2.53;
0.4452;
-0.05886;
-0.001;

stoptime =3;
%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.3703;
Kv =0.029;
%Initial conditions
q10 = pi/2.52;
q20 = 0.44611;
p10 = -0.059;
p20 = -0.001;

stoptime =3;
%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=264;
nu =0;
Kp = 0.3705;
Kv =0.029;
%Initial conditions
q10 = pi/2.515;
q20 = 0.4467;
p10 = -0.05914;
p20 = -0.001;

stoptime =3;
%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=264;
nu =0;
Kp = 0.3705;
Kv =0.029;
%Initial conditions

q10
q20
p10
p20
7

=
=
=
=

pi/2.514;
0.4485;
-0.05916;
-0.001;

stoptime =3;
%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=264;
nu =0;
Kp = 0.3705;
Kv =0.029;
%Initial conditions
q10 = pi/2.513;
q20 = 0.45;
p10 = -0.0591814;
p20 = -0.001;

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=264;
nu =0;
Kp = 0.3705;
Kv =0.029;
%Initial conditions
q10 = pi/2.5125;
q20 = 0.45;
p10 = -0.05919475;
p20 = -0.001;

stoptime =3;
%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=264;
nu =0;
Kp = 0.3705;
Kv =0.029;

%Initial conditions
q10 = pi/2.512;
q20 = 0.45056;
p10 = -0.0592062;
p20 = -0.001;

stoptime =3;
%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=264.1;
nu =0;
Kp = 0.3705;
Kv =0.029;
%Initial conditions
q10 = pi/2.511;
q20 = 0.45056;
p10 = -0.05923615;
p20 = -0.001;

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=260;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.51;
q20 = 0.4428;
p10 = -0.0595;
p20 = -0.001;

stoptime =3;

q (rad)

X: 2.656
Y: -0.0587

q (rad)

-2

-2

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.3059
Y: 25.07

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=261;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.5;
q20 = 0.44605;
p10 = -0.0596;
p20 = -0.001;

stoptime =3;

X: 0.06037
Y: 53.15

0
-100

1
t(sec)

q (rad)

5
0

q (rad)

-2

-5

X: 2.725
Y: -0.0341

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.3126
Y: 25.2

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=262;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.49;
q20 = 0.44605;
p10 = -0.0598;
p20 = -0.001;

stoptime =3;

X: 0.0606
Y: 54

0
-100

1
t(sec)

q (rad)

5
0

q (rad)

-2

-5

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=262;
nu =0;
Kp = 0.370;
Kv =0.029;
%Initial conditions
q10 = pi/2.489;
q20 = 0.45;
p10 = -0.0598;
p20 = -0.001;

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=262;
nu =0;

0
-100

1
t(sec)

Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.485;
q20 = 0.45086;
p10 = -0.0599;
p20 = -0.001;

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=262;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.484;
q20 = 0.4512;
p10 = -0.0599243;
p20 = -0.001;

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.483;
q20 = 0.45363;
p10 = -0.05994;
p20 = -0.001;

stoptime =3;
%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;

m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.482;
q20 = 0.4539;
p10 = -0.05996585;
p20 = -0.001;

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.481;
q20 = 0.45458;
p10 = -0.05999;
p20 = -0.001;

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.48;
q20 = 0.455095;
p10 = -0.060015;
p20 = -0.001;

stoptime =3;

q (rad)

5
0

q (rad)

-2

-5

X: 2.742
Y: 0.0109

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.3255
Y: 25.43

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.47;
q20 = 0.45533;
p10 = -0.060285;
p20 = -0.001;

stoptime =3;

X: 0.06315
Y: 55.23

0
-100

1
t(sec)

q (rad)

5
0

q (rad)

-2

-5

X: 2.785
Y: 0.029

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.3264
Y: 25.44

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.465;
q20 = 0.455645;
p10 = -0.06042;
p20 = -0.001;

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;

X: 0.06341
Y: 55.27

0
-100

1
t(sec)

%Initial conditions
q10 = pi/2.46;
q20 = 0.456115;
p10 = -0.060555;
p20 = -0.001;

stoptime =3;

q (rad)

5
0

q (rad)

-2

-5

X: 2.917
Y: -0.00488

0.1

0
-0.1

-0.5

Torque(N.m)

t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.455;
q20 = 0.45676;
p10 = -0.06069;
p20 = -0.001;

100

Hd(Joul)
0

t(sec)

0
-50

0.5

t(sec)

X: 0.3276
Y: 25.43

50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

X: 0.06367
Y: 55.31

0
-100

1
t(sec)

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.45;
q20 = 0.457596;
p10 = -0.060825;
p20 = -0.001;

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.444;
q20 = 0.495;
p10 = -0.060920495;
p20 = -0.001;

stoptime =3;

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263;
nu =0;
Kp = 0.37;
Kv =0.029;
%Initial conditions
q10 = pi/2.40;

q20 = 0.495;
p10 = -0.062179387;
p20 = -0.001;

stoptime =3;

q (rad)

5
0

q (rad)

-2

-5

X: 2.921
Y: 0.0257

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.339
Y: 25.42

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263.1;
nu =0;
Kp = 0.37;
Kv =0.0289;
%Initial conditions
q10 = pi/2.35;
q20 = 0.5;

X: 0.0677
Y: 55.91

0
-100

1
t(sec)

p10 = -0.063659087;
p20 = -0.001;

q (rad)

5
0

q (rad)

-2

-5

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.3457
Y: 25.44

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263.1;
nu =0;
Kp = 0.37;
Kv =0.0289;
%Initial conditions
q10 = pi/2.325;
q20 = 0.5;
p10 = -0.06442301;
p20 = -0.001;

stoptime =3;

X: 0.07083
Y: 56.11

0
-100

1
t(sec)

q (rad)

5
0

q (rad)

-2

-5

X: 2.892
Y: -0.0301

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.3477
Y: 25.45

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263.1;
nu =0;
Kp = 0.37;
Kv =0.0289;
%Initial conditions
q10 = pi/2.25;
q20 = 0.5;
p10 = -0.0668054701;
p20 = -0.001;

X: 0.07123
Y: 56.16

0
-100

1
t(sec)

q (rad)

5
0

q (rad)

-2

-5

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.3542
Y: 25.44

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=263.1;
nu =0;
Kp = 0.37;
Kv =0.0289;
%Initial conditions
q10 = pi/2;
q20 = 0.5;
p10 = -0.0742376187;
p20 = -0.001;

X: 0.07226
Y: 56.3

0
-100

1
t(sec)

q (rad)

5
0

q (rad)

-2

-5

X: 2.805
Y: -0.0244

0.1

0
-0.1

0
-0.5

1
t(sec)

50

100

Hd(Joul)

Torque(N.m)

0.5

t(sec)

X: 0.375
Y: 25.4

0
-50

2
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

2
t(sec)

X: 0.08286
Y: 56.67

0
-100

1
t(sec)