Differences

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--- ece6554:project_planarheli [2023/03/21 10:59] – [Parameters and Limits] classes
+++ ece6554:project_planarheli [2023/04/12 10:25] – classes
@@ Line 6: / Line 6: @@
 ==== Equations of Motion ====
-Defining $q = (x, y)^T$ to be the center of mass of the ducted fan, and $\theta$ to be the orientation of the ducted fan,
+Defining $q = (x, y)^T$ to be the center of mass of the ducted fan, and $\theta$ to be the orientation of the ducted fan, the most general form of the equations is
+\begin{equation}
+\begin{split}
+  m \ddot q & = -d \dot q + R(\theta) \left[ \begin{matrix} 0 & 0 \\ 1 & 1 \end{matrix} \right] \vec f - m \vec g \\
+  J \ddot \theta & = r \left[ \begin{matrix} 1 & -1 \end{matrix} \right] \vec f
+\end{split}
+\end{equation}
+while a more specialized form is
 \begin{equation}
 \begin{split}