---
# System prepended metadata

title: 'Lecture 05 : Model Underactuated Systems - I'
tags: [Underactuated Robotics, Optimal Controls, MIT 6.832]

---

# Lecture 05 : Model Underactuated Systems - I

###### tags: `MIT 6.832` `Underactuated Robotics` `Optimal Controls`

These are my paper notes of Lecture 5 of the course MIT 6.832 (Underactuated Robotics) of 2019

**Youtube Channel :** [6.832 Underactuated Robotics](https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg/)
**Textbook :** [website](http://underactuated.csail.mit.edu/)
**Lecture :** [video](https://youtu.be/VX86z8U4OsA)

# Table of Contents

[TOC]

## Topics covered 

* Linearization of Nonlinear Systems
    * Example : Simple Pendulum
    * Linearizing the Manipulator Equations 

## Notes

![](https://i.imgur.com/qR0t2sd.jpg)
![](https://i.imgur.com/rppcXmj.jpg)
![](https://i.imgur.com/o4zhH6Z.jpg)
![](https://i.imgur.com/90MKF9D.jpg)
