# a

|文字|意味|
|---|---|
|$u$|入力|
|$r$|目標値|
|$x$|出力|

$$
\left(\begin{array}{c} -m_{1}\,{a_{1}}^2\,\frac{\partial ^2}{\partial t^2} \theta _{1}\left(t\right)-m_{2}\,{l_{1}}^2\,\frac{\partial ^2}{\partial t^2} \theta _{1}\left(t\right)-a_{2}\,m_{2}\,\cos\left(\theta _{1}\left(t\right)-\theta _{2}\left(t\right)\right)\,l_{1}\,\frac{\partial ^2}{\partial t^2} \theta _{2}\left(t\right)-J_{1}\,\frac{\partial ^2}{\partial t^2} \theta _{1}\left(t\right)-a_{2}\,m_{2}\,\sin\left(\theta _{1}\left(t\right)-\theta _{2}\left(t\right)\right)\,l_{1}\,{\left(\frac{\partial }{\partial t} \theta _{2}\left(t\right)\right)}^2-g\,m_{1}\,\cos\left(\theta _{1}\left(t\right)\right)\,a_{1}-g\,m_{2}\,\cos\left(\theta _{1}\left(t\right)\right)\,l_{1}=\tau _{1}\\ -m_{2}\,{a_{2}}^2\,\frac{\partial ^2}{\partial t^2} \theta _{2}\left(t\right)-l_{1}\,m_{2}\,\cos\left(\theta _{1}\left(t\right)-\theta _{2}\left(t\right)\right)\,a_{2}\,\frac{\partial ^2}{\partial t^2} \theta _{1}\left(t\right)-J_{2}\,\frac{\partial ^2}{\partial t^2} \theta _{2}\left(t\right)+l_{1}\,m_{2}\,\sin\left(\theta _{1}\left(t\right)-\theta _{2}\left(t\right)\right)\,a_{2}\,{\left(\frac{\partial }{\partial t} \theta _{1}\left(t\right)\right)}^2-g\,m_{2}\,\cos\left(\theta _{2}\left(t\right)\right)\,a_{2}=\tau _{2} \end{array}\right)
$$