data.csv

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,,,,,,,,38.4239,6.35,,
,,,,,,,,41.1993,6.4,,
,,,,,,,,43.6646,6.45,,
,,,,,,,,45.8356,6.5,,
,,,,,,,,47.7282,6.55,,
,,,,,,,,49.3588,6.6,,
,,,,,,,,50.7435,6.65,,
,,,,,,,,51.8986,6.7,,
,,,,,,,,52.84,6.75,,
,,,,,,,,53.5835,6.8,,
,,,,,,,,54.1446,6.85,,
,,,,,,,,54.5381,6.9,,
,,,,,,,,54.7788,6.95,,
,,,,,,,,54.8806,7,,
,,,,,,,,54.857,7.05,,
,,,,,,,,54.7211,7.1,,
,,,,,,,,54.485,7.15,,
,,,,,,,,54.1607,7.2,,
,,,,,,,,53.7591,7.25,,
,,,,,,,,53.2907,7.3,,
,,,,,,,,52.7654,7.35,,
,,,,,,,,52.1923,7.4,,
,,,,,,,,51.58,7.45,,
,,,,,,,,50.9364,7.5,,
,,,,,,,,50.2688,7.55,,
,,,,,,,,49.584,7.6,,
,,,,,,,,48.8881,7.65,,
,,,,,,,,48.1867,7.7,,
,,,,,,,,47.4849,7.75,,
,,,,,,,,46.7872,7.8,,
,,,,,,,,46.0976,7.85,,
,,,,,,,,45.4198,7.9,,
,,,,,,,,44.7568,7.95,,
,,,,,,,,44.1115,8,,
,,,,,,,,43.486,8.05,,
,,,,,,,,42.8825,8.1,,
,,,,,,,,42.3025,8.15,,
,,,,,,,,41.7473,8.2,,
,,,,,,,,41.2179,8.25,,
,,,,,,,,40.7151,8.3,,
,,,,,,,,40.2394,8.35,,
,,,,,,,,39.791,8.4,,
,,,,,,,,39.37,8.45,,
,,,,,,,,38.9762,8.5,,
,,,,,,,,38.6095,8.55,,
,,,,,,,,38.2693,8.6,,
,,,,,,,,37.9551,8.65,,
,,,,,,,,37.6663,8.7,,
,,,,,,,,37.402,8.75,,
,,,,,,,,37.1615,8.8,,
,,,,,,,,36.9438,8.85,,
,,,,,,,,36.748,8.9,,
,,,,,,,,36.573,8.95,,
,,,,,,,,36.4178,9,,
,,,,,,,,36.2814,9.05,,
,,,,,,,,36.1626,9.1,,
,,,,,,,,36.0605,9.15,,
,,,,,,,,35.9739,9.2,,
,,,,,,,,35.9017,9.25,,
,,,,,,,,35.843,9.3,,
,,,,,,,,35.7966,9.35,,
,,,,,,,,35.7616,9.4,,
,,,,,,,,35.7371,9.45,,
,,,,,,,,35.722,9.5,,
,,,,,,,,35.7155,9.55,,
,,,,,,,,35.7166,9.6,,
,,,,,,,,35.7246,9.65,,
,,,,,,,,35.7387,9.7,,
,,,,,,,,35.7582,9.75,,
,,,,,,,,35.7822,9.8,,
,,,,,,,,35.8102,9.85,,
,,,,,,,,35.8415,9.9,,
,,,,,,,,35.8756,9.95,,
,,,,,,,,35.912,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,1.5,,,0,0
,,,,,,,,0,0,,
,,,,,,,,-31303.8,0.05,,
,,,,,,,,-30556.7,0.1,,
,,,,,,,,-28792.7,0.15,,
,,,,,,,,-26995,0.2,,
,,,,,,,,-25205.9,0.25,,
,,,,,,,,-23436.9,0.3,,
,,,,,,,,-21697.4,0.35,,
,,,,,,,,-19995.6,0.4,,
,,,,,,,,-18338.6,0.45,,
,,,,,,,,-16732.5,0.5,,
,,,,,,,,-15182.5,0.55,,
,,,,,,,,-13692.9,0.6,,
,,,,,,,,-12267.1,0.65,,
,,,,,,,,-10907.8,0.7,,
,,,,,,,,-9616.99,0.75,,
,,,,,,,,-8395.94,0.8,,
,,,,,,,,-7245.41,0.85,,
,,,,,,,,-6165.64,0.9,,
,,,,,,,,-5156.35,0.95,,
,,,,,,,,-4216.84,1,,
,,,,,,,,-3346.04,1.05,,
,,,,,,,,-2542.55,1.1,,
,,,,,,,,-1804.67,1.15,,
,,,,,,,,-1130.44,1.2,,
,,,,,,,,-517.714,1.25,,
,,,,,,,,35.8494,1.3,,
,,,,,,,,532.729,1.35,,
,,,,,,,,975.516,1.4,,
,,,,,,,,1366.89,1.45,,
,,,,,,,,1709.57,1.5,,
,,,,,,,,2006.34,1.55,,
,,,,,,,,2259.98,1.6,,
,,,,,,,,2473.26,1.65,,
,,,,,,,,2648.93,1.7,,
,,,,,,,,2789.71,1.75,,
,,,,,,,,2898.26,1.8,,
,,,,,,,,2977.17,1.85,,
,,,,,,,,3028.97,1.9,,
,,,,,,,,3056.1,1.95,,
,,,,,,,,3060.91,2,,
,,,,,,,,3045.64,2.05,,
,,,,,,,,3012.46,2.1,,
,,,,,,,,2963.4,2.15,,
,,,,,,,,2900.42,2.2,,
,,,,,,,,2825.34,2.25,,
,,,,,,,,2739.88,2.3,,
,,,,,,,,2645.65,2.35,,
,,,,,,,,2544.18,2.4,,
,,,,,,,,2436.84,2.45,,
,,,,,,,,2324.93,2.5,,
,,,,,,,,2209.65,2.55,,
,,,,,,,,2092.08,2.6,,
,,,,,,,,1973.21,2.65,,
,,,,,,,,1853.96,2.7,,
,,,,,,,,1735.11,2.75,,
,,,,,,,,1617.41,2.8,,
,,,,,,,,1501.49,2.85,,
,,,,,,,,1387.93,2.9,,
,,,,,,,,1277.2,2.95,,
,,,,,,,,1169.74,3,,
,,,,,,,,1065.91,3.05,,
,,,,,,,,966.008,3.1,,
,,,,,,,,870.272,3.15,,
,,,,,,,,778.896,3.2,,
,,,,,,,,692.026,3.25,,
,,,,,,,,609.76,3.3,,
,,,,,,,,532.158,3.35,,
,,,,,,,,459.245,3.4,,
,,,,,,,,391.012,3.45,,
,,,,,,,,327.42,3.5,,
,,,,,,,,268.405,3.55,,
,,,,,,,,213.879,3.6,,
,,,,,,,,163.736,3.65,,
,,,,,,,,117.851,3.7,,
,,,,,,,,76.0842,3.75,,
,,,,,,,,38.2839,3.8,,
,,,,,,,,4.2886,3.85,,
,,,,,,,,-26.0717,3.9,,
,,,,,,,,-52.9729,3.95,,
,,,,,,,,-76.5951,4,,
,,,,,,,,-97.1215,4.05,,
,,,,,,,,-114.736,4.1,,
,,,,,,,,-129.624,4.15,,
,,,,,,,,-141.966,4.2,,
,,,,,,,,-151.945,4.25,,
,,,,,,,,-159.738,4.3,,
,,,,,,,,-165.517,4.35,,
,,,,,,,,-169.453,4.4,,
,,,,,,,,-171.707,4.45,,
,,,,,,,,-172.438,4.5,,
,,,,,,,,-171.796,4.55,,
,,,,,,,,-169.927,4.6,,
,,,,,,,,-166.968,4.65,,
,,,,,,,,-163.049,4.7,,
,,,,,,,,-158.295,4.75,,
,,,,,,,,-152.82,4.8,,
,,,,,,,,-146.736,4.85,,
,,,,,,,,-140.142,4.9,,
,,,,,,,,-133.134,4.95,,
,,,,,,,,-125.8,5,,
,,,,,,,,-118.22,5.05,,
,,,,,,,,-110.468,5.1,,
,,,,,,,,-102.612,5.15,,
,,,,,,,,-94.7142,5.2,,
,,,,,,,,-86.8288,5.25,,
,,,,,,,,-79.0058,5.3,,
,,,,,,,,-71.2894,5.35,,
,,,,,,,,-63.7185,5.4,,
,,,,,,,,-56.3272,5.45,,
,,,,,,,,-49.1449,5.5,,
,,,,,,,,-42.1964,5.55,,
,,,,,,,,-35.5029,5.6,,
,,,,,,,,-29.0815,5.65,,
,,,,,,,,-22.9459,5.7,,
,,,,,,,,-17.1063,5.75,,
,,,,,,,,-11.5704,5.8,,
,,,,,,,,-6.34269,5.85,,
,,,,,,,,-1.42555,5.9,,
,,,,,,,,3.18105,5.95,,
,,,,,,,,7.47913,6,,
,,,,,,,,11.4725,6.05,,
,,,,,,,,15.1664,6.1,,
,,,,,,,,18.5677,6.15,,
,,,,,,,,21.6844,6.2,,
,,,,,,,,24.5254,6.25,,
,,,,,,,,27.1005,6.3,,
,,,,,,,,29.4203,6.35,,
,,,,,,,,31.4958,6.4,,
,,,,,,,,33.3388,6.45,,
,,,,,,,,34.961,6.5,,
,,,,,,,,36.3745,6.55,,
,,,,,,,,37.5915,6.6,,
,,,,,,,,38.6243,6.65,,
,,,,,,,,39.4849,6.7,,
,,,,,,,,40.1855,6.75,,
,,,,,,,,40.7378,6.8,,
,,,,,,,,41.1535,6.85,,
,,,,,,,,41.4437,6.9,,
,,,,,,,,41.6195,6.95,,
,,,,,,,,41.6914,7,,
,,,,,,,,41.6694,7.05,,
,,,,,,,,41.5634,7.1,,
,,,,,,,,41.3826,7.15,,
,,,,,,,,41.1358,7.2,,
,,,,,,,,40.8313,7.25,,
,,,,,,,,40.4769,7.3,,
,,,,,,,,40.08,7.35,,
,,,,,,,,39.6476,7.4,,
,,,,,,,,39.1859,7.45,,
,,,,,,,,38.701,7.5,,
,,,,,,,,38.1983,7.55,,
,,,,,,,,37.6828,7.6,,
,,,,,,,,37.1593,7.65,,
,,,,,,,,36.6318,7.7,,
,,,,,,,,36.1041,7.75,,
,,,,,,,,35.5797,7.8,,
,,,,,,,,35.0615,7.85,,
,,,,,,,,34.5523,7.9,,
,,,,,,,,34.0543,7.95,,
,,,,,,,,33.5697,8,,
,,,,,,,,33.1001,8.05,,
,,,,,,,,32.6471,8.1,,
,,,,,,,,32.2118,8.15,,
,,,,,,,,31.7952,8.2,,
,,,,,,,,31.3981,8.25,,
,,,,,,,,31.0209,8.3,,
,,,,,,,,30.6642,8.35,,
,,,,,,,,30.3279,8.4,,
,,,,,,,,30.0123,8.45,,
,,,,,,,,29.7172,8.5,,
,,,,,,,,29.4423,8.55,,
,,,,,,,,29.1874,8.6,,
,,,,,,,,28.9521,8.65,,
,,,,,,,,28.7357,8.7,,
,,,,,,,,28.5379,8.75,,
,,,,,,,,28.3578,8.8,,
,,,,,,,,28.1949,8.85,,
,,,,,,,,28.0483,8.9,,
,,,,,,,,27.9174,8.95,,
,,,,,,,,27.8014,9,,
,,,,,,,,27.6994,9.05,,
,,,,,,,,27.6107,9.1,,
,,,,,,,,27.5344,9.15,,
,,,,,,,,27.4698,9.2,,
,,,,,,,,27.416,9.25,,
,,,,,,,,27.3722,9.3,,
,,,,,,,,27.3377,9.35,,
,,,,,,,,27.3118,9.4,,
,,,,,,,,27.2936,9.45,,
,,,,,,,,27.2826,9.5,,
,,,,,,,,27.2779,9.55,,
,,,,,,,,27.279,9.6,,
,,,,,,,,27.2852,9.65,,
,,,,,,,,27.296,9.7,,
,,,,,,,,27.3107,9.75,,
,,,,,,,,27.3289,9.8,,
,,,,,,,,27.35,9.85,,
,,,,,,,,27.3737,9.9,,
,,,,,,,,27.3994,9.95,,
,,,,,,,,27.4267,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,1,,,0,0
,,,,,,,,0,0,,
,,,,,,,,-20869.2,0.05,,
,,,,,,,,-20371,0.1,,
,,,,,,,,-19195,0.15,,
,,,,,,,,-17996.5,0.2,,
,,,,,,,,-16803.8,0.25,,
,,,,,,,,-15624.4,0.3,,
,,,,,,,,-14464.7,0.35,,
,,,,,,,,-13330.1,0.4,,
,,,,,,,,-12225.4,0.45,,
,,,,,,,,-11154.6,0.5,,
,,,,,,,,-10121.3,0.55,,
,,,,,,,,-9128.2,0.6,,
,,,,,,,,-8177.65,0.65,,
,,,,,,,,-7271.41,0.7,,
,,,,,,,,-6410.82,0.75,,
,,,,,,,,-5596.76,0.8,,
,,,,,,,,-4829.73,0.85,,
,,,,,,,,-4109.86,0.9,,
,,,,,,,,-3436.97,0.95,,
,,,,,,,,-2810.62,1,,
,,,,,,,,-2230.07,1.05,,
,,,,,,,,-1694.39,1.1,,
,,,,,,,,-1202.46,1.15,,
,,,,,,,,-752.962,1.2,,
,,,,,,,,-344.466,1.25,,
,,,,,,,,24.5861,1.3,,
,,,,,,,,355.848,1.35,,
,,,,,,,,651.047,1.4,,
,,,,,,,,911.967,1.45,,
,,,,,,,,1140.43,1.5,,
,,,,,,,,1338.28,1.55,,
,,,,,,,,1507.38,1.6,,
,,,,,,,,1649.57,1.65,,
,,,,,,,,1766.68,1.7,,
,,,,,,,,1860.54,1.75,,
,,,,,,,,1932.91,1.8,,
,,,,,,,,1985.51,1.85,,
,,,,,,,,2020.05,1.9,,
,,,,,,,,2038.13,1.95,,
,,,,,,,,2041.34,2,,
,,,,,,,,2031.16,2.05,,
,,,,,,,,2009.03,2.1,,
,,,,,,,,1976.33,2.15,,
,,,,,,,,1934.34,2.2,,
,,,,,,,,1884.28,2.25,,
,,,,,,,,1827.3,2.3,,
,,,,,,,,1764.49,2.35,,
,,,,,,,,1696.83,2.4,,
,,,,,,,,1625.27,2.45,,
,,,,,,,,1550.66,2.5,,
,,,,,,,,1473.81,2.55,,
,,,,,,,,1395.42,2.6,,
,,,,,,,,1316.18,2.65,,
,,,,,,,,1236.67,2.7,,
,,,,,,,,1157.44,2.75,,
,,,,,,,,1078.97,2.8,,
,,,,,,,,1001.69,2.85,,
,,,,,,,,925.974,2.9,,
,,,,,,,,852.155,2.95,,
,,,,,,,,780.514,3,,
,,,,,,,,711.291,3.05,,
,,,,,,,,644.686,3.1,,
,,,,,,,,580.86,3.15,,
,,,,,,,,519.941,3.2,,
,,,,,,,,462.025,3.25,,
,,,,,,,,407.18,3.3,,
,,,,,,,,355.444,3.35,,
,,,,,,,,306.834,3.4,,
,,,,,,,,261.343,3.45,,
,,,,,,,,218.947,3.5,,
,,,,,,,,179.603,3.55,,
,,,,,,,,143.251,3.6,,
,,,,,,,,109.822,3.65,,
,,,,,,,,79.2307,3.7,,
,,,,,,,,51.3853,3.75,,
,,,,,,,,26.1844,3.8,,
,,,,,,,,3.52015,3.85,,
,,,,,,,,-16.7206,3.9,,
,,,,,,,,-34.6553,3.95,,
,,,,,,,,-50.4039,4,,
,,,,,,,,-64.0886,4.05,,
,,,,,,,,-75.8321,4.1,,
,,,,,,,,-85.7572,4.15,,
,,,,,,,,-93.986,4.2,,
,,,,,,,,-100.639,4.25,,
,,,,,,,,-105.834,4.3,,
,,,,,,,,-109.687,4.35,,
,,,,,,,,-112.311,4.4,,
,,,,,,,,-113.814,4.45,,
,,,,,,,,-114.301,4.5,,
,,,,,,,,-113.873,4.55,,
,,,,,,,,-112.627,4.6,,
,,,,,,,,-110.654,4.65,,
,,,,,,,,-108.042,4.7,,
,,,,,,,,-104.872,4.75,,
,,,,,,,,-101.222,4.8,,
,,,,,,,,-97.1658,4.85,,
,,,,,,,,-92.7699,4.9,,
,,,,,,,,-88.0979,4.95,,
,,,,,,,,-83.2083,5,,
,,,,,,,,-78.1548,5.05,,
,,,,,,,,-72.9869,5.1,,
,,,,,,,,-67.7497,5.15,,
,,,,,,,,-62.4841,5.2,,
,,,,,,,,-57.2271,5.25,,
,,,,,,,,-52.0117,5.3,,
,,,,,,,,-46.8673,5.35,,
,,,,,,,,-41.82,5.4,,
,,,,,,,,-36.8923,5.45,,
,,,,,,,,-32.104,5.5,,
,,,,,,,,-27.4716,5.55,,
,,,,,,,,-23.0092,5.6,,
,,,,,,,,-18.7282,5.65,,
,,,,,,,,-14.6377,5.7,,
,,,,,,,,-10.7447,5.75,,
,,,,,,,,-7.05398,5.8,,
,,,,,,,,-3.56883,5.85,,
,,,,,,,,-0.290701,5.9,,
,,,,,,,,2.78039,5.95,,
,,,,,,,,5.64579,6,,
,,,,,,,,8.30803,6.05,,
,,,,,,,,10.7707,6.1,,
,,,,,,,,13.0382,6.15,,
,,,,,,,,15.116,6.2,,
,,,,,,,,17.0099,6.25,,
,,,,,,,,18.7267,6.3,,
,,,,,,,,20.2732,6.35,,
,,,,,,,,21.6569,6.4,,
,,,,,,,,22.8854,6.45,,
,,,,,,,,23.9669,6.5,,
,,,,,,,,24.9092,6.55,,
,,,,,,,,25.7205,6.6,,
,,,,,,,,26.4089,6.65,,
,,,,,,,,26.9826,6.7,,
,,,,,,,,27.4496,6.75,,
,,,,,,,,27.8178,6.8,,
,,,,,,,,28.0948,6.85,,
,,,,,,,,28.2883,6.9,,
,,,,,,,,28.4054,6.95,,
,,,,,,,,28.4532,7,,
,,,,,,,,28.4385,7.05,,
,,,,,,,,28.3678,7.1,,
,,,,,,,,28.2472,7.15,,
,,,,,,,,28.0826,7.2,,
,,,,,,,,27.8795,7.25,,
,,,,,,,,27.6431,7.3,,
,,,,,,,,27.3785,7.35,,
,,,,,,,,27.0901,7.4,,
,,,,,,,,26.7822,7.45,,
,,,,,,,,26.4589,7.5,,
,,,,,,,,26.1237,7.55,,
,,,,,,,,25.78,7.6,,
,,,,,,,,25.4309,7.65,,
,,,,,,,,25.0791,7.7,,
,,,,,,,,24.7273,7.75,,
,,,,,,,,24.3776,7.8,,
,,,,,,,,24.032,7.85,,
,,,,,,,,23.6925,7.9,,
,,,,,,,,23.3604,7.95,,
,,,,,,,,23.0373,8,,
,,,,,,,,22.7242,8.05,,
,,,,,,,,22.4221,8.1,,
,,,,,,,,22.1318,8.15,,
,,,,,,,,21.854,8.2,,
,,,,,,,,21.5892,8.25,,
,,,,,,,,21.3377,8.3,,
,,,,,,,,21.0997,8.35,,
,,,,,,,,20.8755,8.4,,
,,,,,,,,20.665,8.45,,
,,,,,,,,20.4682,8.5,,
,,,,,,,,20.2849,8.55,,
,,,,,,,,20.1149,8.6,,
,,,,,,,,19.9579,8.65,,
,,,,,,,,19.8136,8.7,,
,,,,,,,,19.6816,8.75,,
,,,,,,,,19.5615,8.8,,
,,,,,,,,19.4528,8.85,,
,,,,,,,,19.3551,8.9,,
,,,,,,,,19.2677,8.95,,
,,,,,,,,19.1903,9,,
,,,,,,,,19.1223,9.05,,
,,,,,,,,19.0631,9.1,,
,,,,,,,,19.0121,9.15,,
,,,,,,,,18.969,9.2,,
,,,,,,,,18.933,9.25,,
,,,,,,,,18.9038,9.3,,
,,,,,,,,18.8808,9.35,,
,,,,,,,,18.8634,9.4,,
,,,,,,,,18.8512,9.45,,
,,,,,,,,18.8438,9.5,,
,,,,,,,,18.8406,9.55,,
,,,,,,,,18.8413,9.6,,
,,,,,,,,18.8454,9.65,,
,,,,,,,,18.8525,9.7,,
,,,,,,,,18.8622,9.75,,
,,,,,,,,18.8743,9.8,,
,,,,,,,,18.8883,9.85,,
,,,,,,,,18.904,9.9,,
,,,,,,,,18.9211,9.95,,
,,,,,,,,18.9392,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,0.5,,,0,0
,,,,,,,,0,0,,
,,,,,,,,-10434.6,0.05,,
,,,,,,,,-10185.4,0.1,,
,,,,,,,,-9597.34,0.15,,
,,,,,,,,-8998.05,0.2,,
,,,,,,,,-8401.61,0.25,,
,,,,,,,,-7811.87,0.3,,
,,,,,,,,-7231.95,0.35,,
,,,,,,,,-6664.6,0.4,,
,,,,,,,,-6112.2,0.45,,
,,,,,,,,-5576.78,0.5,,
,,,,,,,,-5060.06,0.55,,
,,,,,,,,-4563.47,0.6,,
,,,,,,,,-4088.15,0.65,,
,,,,,,,,-3634.99,0.7,,
,,,,,,,,-3204.66,0.75,,
,,,,,,,,-2797.59,0.8,,
,,,,,,,,-2414.04,0.85,,
,,,,,,,,-2054.07,0.9,,
,,,,,,,,-1717.6,0.95,,
,,,,,,,,-1404.4,1,,
,,,,,,,,-1114.1,1.05,,
,,,,,,,,-846.237,1.1,,
,,,,,,,,-600.249,1.15,,
,,,,,,,,-375.482,1.2,,
,,,,,,,,-171.218,1.25,,
,,,,,,,,13.3228,1.3,,
,,,,,,,,178.967,1.35,,
,,,,,,,,326.578,1.4,,
,,,,,,,,457.047,1.45,,
,,,,,,,,571.287,1.5,,
,,,,,,,,670.22,1.55,,
,,,,,,,,754.774,1.6,,
,,,,,,,,825.873,1.65,,
,,,,,,,,884.435,1.7,,
,,,,,,,,931.365,1.75,,
,,,,,,,,967.55,1.8,,
,,,,,,,,993.856,1.85,,
,,,,,,,,1011.12,1.9,,
,,,,,,,,1020.17,1.95,,
,,,,,,,,1021.77,2,,
,,,,,,,,1016.67,2.05,,
,,,,,,,,1005.61,2.1,,
,,,,,,,,989.255,2.15,,
,,,,,,,,968.257,2.2,,
,,,,,,,,943.224,2.25,,
,,,,,,,,914.733,2.3,,
,,,,,,,,883.321,2.35,,
,,,,,,,,849.49,2.4,,
,,,,,,,,813.705,2.45,,
,,,,,,,,776.398,2.5,,
,,,,,,,,737.965,2.55,,
,,,,,,,,698.77,2.6,,
,,,,,,,,659.143,2.65,,
,,,,,,,,619.385,2.7,,
,,,,,,,,579.765,2.75,,
,,,,,,,,540.526,2.8,,
,,,,,,,,501.882,2.85,,
,,,,,,,,464.021,2.9,,
,,,,,,,,427.108,2.95,,
,,,,,,,,391.284,3,,
,,,,,,,,356.67,3.05,,
,,,,,,,,337.796,3.1,,
,,,,,,,,290.237,3.15,,
,,,,,,,,259.283,3.2,,
,,,,,,,,230.316,3.25,,
,,,,,,,,202.908,3.3,,
,,,,,,,,177.065,3.35,,
,,,,,,,,152.793,3.4,,
,,,,,,,,130.088,3.45,,
,,,,,,,,108.937,3.5,,
,,,,,,,,89.3159,3.55,,
,,,,,,,,71.1959,3.6,,
,,,,,,,,54.5403,3.65,,
,,,,,,,,39.3068,3.7,,
,,,,,,,,25.4481,3.75,,
,,,,,,,,12.9132,3.8,,
,,,,,,,,1.64745,3.85,,
,,,,,,,,-8.40622,3.9,,
,,,,,,,,-17.3069,3.95,,
,,,,,,,,-25.1152,4,,
,,,,,,,,-31.8923,4.05,,
,,,,,,,,-37.7001,4.1,,
,,,,,,,,-42.6002,4.15,,
,,,,,,,,-46.654,4.2,,
,,,,,,,,-49.9217,4.25,,
,,,,,,,,-52.4628,4.3,,
,,,,,,,,-54.3352,4.35,,
,,,,,,,,-55.5952,4.4,,
,,,,,,,,-56.2974,4.45,,
,,,,,,,,-56.4942,4.5,,
,,,,,,,,-56.2363,4.55,,
,,,,,,,,-55.5717,4.6,,
,,,,,,,,-54.5464,4.65,,
,,,,,,,,-53.2039,4.7,,
,,,,,,,,-51.5853,4.75,,
,,,,,,,,-49.7294,4.8,,
,,,,,,,,-47.6724,4.85,,
,,,,,,,,-45.4482,4.9,,
,,,,,,,,-43.0883,4.95,,
,,,,,,,,-40.6217,5,,
,,,,,,,,-38.0755,5.05,,
,,,,,,,,-35.4741,5.1,,
,,,,,,,,-32.84,5.15,,
,,,,,,,,-30.1935,5.2,,
,,,,,,,,-27.5531,5.25,,
,,,,,,,,-24.9352,5.3,,
,,,,,,,,-22.3544,5.35,,
,,,,,,,,-19.8235,5.4,,
,,,,,,,,-17.3538,5.45,,
,,,,,,,,-14.9551,5.5,,
,,,,,,,,-12.6355,5.55,,
,,,,,,,,-10.4019,5.6,,
,,,,,,,,-8.25997,5.65,,
,,,,,,,,-6.21418,5.7,,
,,,,,,,,-4.2679,5.75,,
,,,,,,,,-2.42353,5.8,,
,,,,,,,,-0.682552,5.85,,
,,,,,,,,0.954353,5.9,,
,,,,,,,,2.48726,5.95,,
,,,,,,,,3.91689,6,,
,,,,,,,,5.24459,6.05,,
,,,,,,,,6.47218,6.1,,
,,,,,,,,7.60199,6.15,,
,,,,,,,,8.6367,6.2,,
,,,,,,,,9.57937,6.25,,
,,,,,,,,10.4333,6.3,,
,,,,,,,,11.2021,6.35,,
,,,,,,,,11.8894,6.4,,
,,,,,,,,12.4992,6.45,,
,,,,,,,,13.0354,6.5,,
,,,,,,,,13.5021,6.55,,
,,,,,,,,13.9034,6.6,,
,,,,,,,,14.2433,6.65,,
,,,,,,,,14.526,6.7,,
,,,,,,,,14.7555,6.75,,
,,,,,,,,14.9357,6.8,,
,,,,,,,,15.0704,6.85,,
,,,,,,,,15.1636,6.9,,
,,,,,,,,15.2187,6.95,,
,,,,,,,,15.2394,7,,
,,,,,,,,15.2289,7.05,,
,,,,,,,,15.1907,7.1,,
,,,,,,,,15.1276,7.15,,
,,,,,,,,15.0428,7.2,,
,,,,,,,,14.9388,7.25,,
,,,,,,,,14.8185,7.3,,
,,,,,,,,14.6841,7.35,,
,,,,,,,,14.538,7.4,,
,,,,,,,,14.3823,7.45,,
,,,,,,,,14.2191,7.5,,
,,,,,,,,14.05,7.55,,
,,,,,,,,13.8769,7.6,,
,,,,,,,,13.7011,7.65,,
,,,,,,,,13.5242,7.7,,
,,,,,,,,13.3474,7.75,,
,,,,,,,,13.1717,7.8,,
,,,,,,,,12.9982,7.85,,
,,,,,,,,12.8278,7.9,,
,,,,,,,,12.6613,7.95,,
,,,,,,,,12.4993,8,,
,,,,,,,,12.3424,8.05,,
,,,,,,,,12.1911,8.1,,
,,,,,,,,12.0457,8.15,,
,,,,,,,,11.9067,8.2,,
,,,,,,,,11.7741,8.25,,
,,,,,,,,11.6483,8.3,,
,,,,,,,,11.5294,8.35,,
,,,,,,,,11.4173,8.4,,
,,,,,,,,11.3121,8.45,,
,,,,,,,,11.2138,8.5,,
,,,,,,,,11.1222,8.55,,
,,,,,,,,11.0374,8.6,,
,,,,,,,,10.959,8.65,,
,,,,,,,,10.8871,8.7,,
,,,,,,,,10.8212,8.75,,
,,,,,,,,10.7614,8.8,,
,,,,,,,,10.7072,8.85,,
,,,,,,,,10.6585,8.9,,
,,,,,,,,10.6151,8.95,,
,,,,,,,,10.5765,9,,
,,,,,,,,10.5427,9.05,,
,,,,,,,,10.5133,9.1,,
,,,,,,,,10.488,9.15,,
,,,,,,,,10.4666,9.2,,
,,,,,,,,10.4488,9.25,,
,,,,,,,,10.4343,9.3,,
,,,,,,,,10.423,9.35,,
,,,,,,,,10.4144,9.4,,
,,,,,,,,10.4085,9.45,,
,,,,,,,,10.4049,9.5,,
,,,,,,,,10.4034,9.55,,
,,,,,,,,10.4038,9.6,,
,,,,,,,,10.4059,9.65,,
,,,,,,,,10.4095,9.7,,
,,,,,,,,10.4145,9.75,,
,,,,,,,,10.4206,9.8,,
,,,,,,,,10.4276,9.85,,
,,,,,,,,10.4355,9.9,,
,,,,,,,,10.444,9.95,,
,,,,,,,,10.4531,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,3,,,0,1
,,,,,,,,0,0,,
,,,,,,,,-72082.3,0.05,,
,,,,,,,,-70867.8,0.1,,
,,,,,,,,-67272.5,0.15,,
,,,,,,,,-63546.3,0.2,,
,,,,,,,,-59788.5,0.25,,
,,,,,,,,-56028.6,0.3,,
,,,,,,,,-52291.2,0.35,,
,,,,,,,,-48598,0.4,,
,,,,,,,,-44968.5,0.45,,
,,,,,,,,-41419.5,0.5,,
,,,,,,,,-37965.7,0.55,,
,,,,,,,,-34619.7,0.6,,
,,,,,,,,-31392,0.65,,
,,,,,,,,-28291.4,0.7,,
,,,,,,,,-25324.9,0.75,,
,,,,,,,,-22497.9,0.8,,
,,,,,,,,-19814.4,0.85,,
,,,,,,,,-17277.1,0.9,,
,,,,,,,,-14887.4,0.95,,
,,,,,,,,-12645.6,1,,
,,,,,,,,-10551.1,1.05,,
,,,,,,,,-8602.23,1.1,,
,,,,,,,,-6796.78,1.15,,
,,,,,,,,-5131.71,1.2,,
,,,,,,,,-3603.4,1.25,,
,,,,,,,,-2207.74,1.3,,
,,,,,,,,-940.148,1.35,,
,,,,,,,,204.279,1.4,,
,,,,,,,,1230.76,1.45,,
,,,,,,,,2144.73,1.5,,
,,,,,,,,2951.8,1.55,,
,,,,,,,,3657.69,1.6,,
,,,,,,,,4268.21,1.65,,
,,,,,,,,4789.16,1.7,,
,,,,,,,,5226.36,1.75,,
,,,,,,,,5585.53,1.8,,
,,,,,,,,5872.35,1.85,,
,,,,,,,,6092.37,1.9,,
,,,,,,,,6251.01,1.95,,
,,,,,,,,6353.51,2,,
,,,,,,,,6404.96,2.05,,
,,,,,,,,6410.25,2.1,,
,,,,,,,,6374.08,2.15,,
,,,,,,,,6300.9,2.2,,
,,,,,,,,6195,2.25,,
,,,,,,,,6060.38,2.3,,
,,,,,,,,5900.87,2.35,,
,,,,,,,,5720.05,2.4,,
,,,,,,,,5521.25,2.45,,
,,,,,,,,5307.6,2.5,,
,,,,,,,,5082,2.55,,
,,,,,,,,4847.13,2.6,,
,,,,,,,,4605.45,2.65,,
,,,,,,,,4359.23,2.7,,
,,,,,,,,4110.51,2.75,,
,,,,,,,,3861.16,2.8,,
,,,,,,,,3612.85,2.85,,
,,,,,,,,3367.08,2.9,,
,,,,,,,,3125.18,2.95,,
,,,,,,,,2888.31,3,,
,,,,,,,,2657.49,3.05,,
,,,,,,,,2433.58,3.1,,
,,,,,,,,2217.33,3.15,,
,,,,,,,,2009.35,3.2,,
,,,,,,,,1810.13,3.25,,
,,,,,,,,1620.07,3.3,,
,,,,,,,,1439.46,3.35,,
,,,,,,,,1268.49,3.4,,
,,,,,,,,1107.29,3.45,,
,,,,,,,,955.886,3.5,,
,,,,,,,,814.264,3.55,,
,,,,,,,,682.334,3.6,,
,,,,,,,,559.957,3.65,,
,,,,,,,,446.946,3.7,,
,,,,,,,,343.071,3.75,,
,,,,,,,,248.069,3.8,,
,,,,,,,,161.646,3.85,,
,,,,,,,,83.481,3.9,,
,,,,,,,,13.2342,3.95,,
,,,,,,,,-49.451,4,,
,,,,,,,,-104.944,4.05,,
,,,,,,,,-153.621,4.1,,
,,,,,,,,-195.867,4.15,,
,,,,,,,,-232.067,4.2,,
,,,,,,,,-262.604,4.25,,
,,,,,,,,-287.863,4.3,,
,,,,,,,,-308.219,4.35,,
,,,,,,,,-324.043,4.4,,
,,,,,,,,-335.697,4.45,,
,,,,,,,,-343.532,4.5,,
,,,,,,,,-347.888,4.55,,
,,,,,,,,-349.093,4.6,,
,,,,,,,,-347.462,4.65,,
,,,,,,,,-343.296,4.7,,
,,,,,,,,-336.88,4.75,,
,,,,,,,,-328.488,4.8,,
,,,,,,,,-318.374,4.85,,
,,,,,,,,-306.781,4.9,,
,,,,,,,,-293.935,4.95,,
,,,,,,,,-280.047,5,,
,,,,,,,,-265.314,5.05,,
,,,,,,,,-249.916,5.1,,
,,,,,,,,-234.023,5.15,,
,,,,,,,,-217.786,5.2,,
,,,,,,,,-201.347,5.25,,
,,,,,,,,-184.831,5.3,,
,,,,,,,,-168.354,5.35,,
,,,,,,,,-152.019,5.4,,
,,,,,,,,-135.915,5.45,,
,,,,,,,,-120.124,5.5,,
,,,,,,,,-104.715,5.55,,
,,,,,,,,-89.7493,5.6,,
,,,,,,,,-75.2779,5.65,,
,,,,,,,,-61.3437,5.7,,
,,,,,,,,-47.9819,5.75,,
,,,,,,,,-35.2202,5.8,,
,,,,,,,,-23.0797,5.85,,
,,,,,,,,-11.5753,5.9,,
,,,,,,,,-0.716273,5.95,,
,,,,,,,,9.49325,6,,
,,,,,,,,19.0537,6.05,,
,,,,,,,,27.9698,6.1,,
,,,,,,,,36.2496,6.15,,
,,,,,,,,43.9049,6.2,,
,,,,,,,,50.9501,6.25,,
,,,,,,,,57.4019,6.3,,
,,,,,,,,63.2793,6.35,,
,,,,,,,,68.6032,6.4,,
,,,,,,,,73.3957,6.45,,
,,,,,,,,77.6802,6.5,,
,,,,,,,,81.4808,6.55,,
,,,,,,,,84.8226,6.6,,
,,,,,,,,87.7308,6.65,,
,,,,,,,,90.2309,6.7,,
,,,,,,,,92.3485,6.75,,
,,,,,,,,94.1089,6.8,,
,,,,,,,,95.5374,6.85,,
,,,,,,,,96.6584,6.9,,
,,,,,,,,97.4963,6.95,,
,,,,,,,,98.0744,7,,
,,,,,,,,98.4157,7.05,,
,,,,,,,,98.5419,7.1,,
,,,,,,,,98.4743,7.15,,
,,,,,,,,98.233,7.2,,
,,,,,,,,97.8374,7.25,,
,,,,,,,,97.3056,7.3,,
,,,,,,,,96.655,7.35,,
,,,,,,,,95.9019,7.4,,
,,,,,,,,95.0616,7.45,,
,,,,,,,,94.1483,7.5,,
,,,,,,,,93.1753,7.55,,
,,,,,,,,92.155,7.6,,
,,,,,,,,91.0987,7.65,,
,,,,,,,,90.0169,7.7,,
,,,,,,,,88.919,7.75,,
,,,,,,,,87.8138,7.8,,
,,,,,,,,86.7091,7.85,,
,,,,,,,,85.6118,7.9,,
,,,,,,,,84.5283,7.95,,
,,,,,,,,83.464,8,,
,,,,,,,,82.4239,8.05,,
,,,,,,,,81.412,8.1,,
,,,,,,,,80.4319,8.15,,
,,,,,,,,79.4867,8.2,,
,,,,,,,,78.5789,8.25,,
,,,,,,,,77.7103,8.3,,
,,,,,,,,76.8825,8.35,,
,,,,,,,,76.0967,8.4,,
,,,,,,,,75.3535,8.45,,
,,,,,,,,74.6533,8.5,,
,,,,,,,,73.9962,8.55,,
,,,,,,,,73.3819,8.6,,
,,,,,,,,72.8099,8.65,,
,,,,,,,,72.2796,8.7,,
,,,,,,,,71.79,8.75,,
,,,,,,,,71.3401,8.8,,
,,,,,,,,70.9286,8.85,,
,,,,,,,,70.5543,8.9,,
,,,,,,,,70.2155,8.95,,
,,,,,,,,69.9109,9,,
,,,,,,,,69.6388,9.05,,
,,,,,,,,69.3977,9.1,,
,,,,,,,,69.1857,9.15,,
,,,,,,,,69.0013,9.2,,
,,,,,,,,68.8427,9.25,,
,,,,,,,,68.7083,9.3,,
,,,,,,,,68.5963,9.35,,
,,,,,,,,68.5052,9.4,,
,,,,,,,,68.4333,9.45,,
,,,,,,,,68.3791,9.5,,
,,,,,,,,68.341,9.55,,
,,,,,,,,68.3175,9.6,,
,,,,,,,,68.3073,9.65,,
,,,,,,,,68.309,9.7,,
,,,,,,,,68.3213,9.75,,
,,,,,,,,68.343,9.8,,
,,,,,,,,68.3728,9.85,,
,,,,,,,,68.4098,9.9,,
,,,,,,,,68.4528,9.95,,
,,,,,,,,68.5009,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,2.5,,,0,1
,,,,,,,,0,0,,
,,,,,,,,-61647.6,0.05,,
,,,,,,,,-60682.1,0.1,,
,,,,,,,,-57674.9,0.15,,
,,,,,,,,-54547.8,0.2,,
,,,,,,,,-51386.3,0.25,,
,,,,,,,,-48216.1,0.3,,
,,,,,,,,-45058.4,0.35,,
,,,,,,,,-41932.5,0.4,,
,,,,,,,,-38855.3,0.45,,
,,,,,,,,-35841.6,0.5,,
,,,,,,,,-32904.4,0.55,,
,,,,,,,,-30054.9,0.6,,
,,,,,,,,-27302.5,0.65,,
,,,,,,,,-24655,0.7,,
,,,,,,,,-22118.7,0.75,,
,,,,,,,,-19698.7,0.8,,
,,,,,,,,-17398.8,0.85,,
,,,,,,,,-15221.4,0.9,,
,,,,,,,,-13168.1,0.95,,
,,,,,,,,-11239.4,1,,
,,,,,,,,-9435.1,1.05,,
,,,,,,,,-7754.07,1.1,,
,,,,,,,,-6194.57,1.15,,
,,,,,,,,-4754.23,1.2,,
,,,,,,,,-3430.16,1.25,,
,,,,,,,,-2219,1.3,,
,,,,,,,,-1117.03,1.35,,
,,,,,,,,-120.19,1.4,,
,,,,,,,,775.838,1.45,,
,,,,,,,,1575.58,1.5,,
,,,,,,,,2283.73,1.55,,
,,,,,,,,2905.09,1.6,,
,,,,,,,,3444.52,1.65,,
,,,,,,,,3906.92,1.7,,
,,,,,,,,4297.18,1.75,,
,,,,,,,,4620.18,1.8,,
,,,,,,,,4880.69,1.85,,
,,,,,,,,5083.45,1.9,,
,,,,,,,,5233.04,1.95,,
,,,,,,,,5333.94,2,,
,,,,,,,,5390.48,2.05,,
,,,,,,,,5406.83,2.1,,
,,,,,,,,5387,2.15,,
,,,,,,,,5334.82,2.2,,
,,,,,,,,5253.94,2.25,,
,,,,,,,,5147.81,2.3,,
,,,,,,,,5019.71,2.35,,
,,,,,,,,4872.7,2.4,,
,,,,,,,,4709.68,2.45,,
,,,,,,,,4533.33,2.5,,
,,,,,,,,4346.16,2.55,,
,,,,,,,,4150.48,2.6,,
,,,,,,,,3948.42,2.65,,
,,,,,,,,3741.95,2.7,,
,,,,,,,,3532.84,2.75,,
,,,,,,,,3322.72,2.8,,
,,,,,,,,3113.05,2.85,,
,,,,,,,,2905.13,2.9,,
,,,,,,,,2700.13,2.95,,
,,,,,,,,2499.08,3,,
,,,,,,,,2302.86,3.05,,
,,,,,,,,2187.46,3.1,,
,,,,,,,,1921.61,3.15,,
,,,,,,,,1741.52,3.2,,
,,,,,,,,1571.23,3.25,,
,,,,,,,,1408.68,3.3,,
,,,,,,,,1254.08,3.35,,
,,,,,,,,1107.59,3.4,,
,,,,,,,,969.352,3.45,,
,,,,,,,,839.398,3.5,,
,,,,,,,,717.724,3.55,,
,,,,,,,,604.267,3.6,,
,,,,,,,,498.92,3.65,,
,,,,,,,,401.533,3.7,,
,,,,,,,,311.92,3.75,,
,,,,,,,,229.865,3.8,,
,,,,,,,,155.123,3.85,,
,,,,,,,,87.4303,3.9,,
,,,,,,,,26.5013,3.95,,
,,,,,,,,-27.9623,4,,
,,,,,,,,-76.2705,4.05,,
,,,,,,,,-118.741,4.1,,
,,,,,,,,-155.697,4.15,,
,,,,,,,,-187.465,4.2,,
,,,,,,,,-214.369,4.25,,
,,,,,,,,-236.734,4.3,,
,,,,,,,,-254.881,4.35,,
,,,,,,,,-269.123,4.4,,
,,,,,,,,-279.768,4.45,,
,,,,,,,,-287.115,4.5,,
,,,,,,,,-291.455,4.55,,
,,,,,,,,-293.067,4.6,,
,,,,,,,,-292.221,4.65,,
,,,,,,,,-289.172,4.7,,
,,,,,,,,-284.166,4.75,,
,,,,,,,,-277.437,4.8,,
,,,,,,,,-269.202,4.85,,
,,,,,,,,-259.671,4.9,,
,,,,,,,,-249.037,4.95,,
,,,,,,,,-237.482,5,,
,,,,,,,,-225.174,5.05,,
,,,,,,,,-212.27,5.1,,
,,,,,,,,-198.915,5.15,,
,,,,,,,,-185.241,5.2,,
,,,,,,,,-171.369,5.25,,
,,,,,,,,-157.408,5.3,,
,,,,,,,,-143.459,5.35,,
,,,,,,,,-129.61,5.4,,
,,,,,,,,-115.94,5.45,,
,,,,,,,,-102.52,5.5,,
,,,,,,,,-89.4098,5.55,,
,,,,,,,,-76.6633,5.6,,
,,,,,,,,-64.3255,5.65,,
,,,,,,,,-52.4341,5.7,,
,,,,,,,,-41.0205,5.75,,
,,,,,,,,-30.1095,5.8,,
,,,,,,,,-19.7201,5.85,,
,,,,,,,,-9.86621,5.9,,
,,,,,,,,-0.556639,5.95,,
,,,,,,,,8.20412,6,,
,,,,,,,,16.4156,6.05,,
,,,,,,,,24.0809,6.1,,
,,,,,,,,31.2063,6.15,,
,,,,,,,,37.8011,6.2,,
,,,,,,,,43.8768,6.25,,
,,,,,,,,49.4473,6.3,,
,,,,,,,,54.5283,6.35,,
,,,,,,,,59.1369,6.4,,
,,,,,,,,63.2917,6.45,,
,,,,,,,,67.0123,6.5,,
,,,,,,,,70.3189,6.55,,
,,,,,,,,73.2326,6.6,,
,,,,,,,,75.7746,6.65,,
,,,,,,,,77.9665,6.7,,
,,,,,,,,79.8299,6.75,,
,,,,,,,,81.3864,6.8,,
,,,,,,,,82.6571,6.85,,
,,,,,,,,83.6632,6.9,,
,,,,,,,,84.4251,6.95,,
,,,,,,,,84.9628,7,,
,,,,,,,,85.2958,7.05,,
,,,,,,,,85.4427,7.1,,
,,,,,,,,85.4216,7.15,,
,,,,,,,,85.2498,7.2,,
,,,,,,,,84.9438,7.25,,
,,,,,,,,84.5191,7.3,,
,,,,,,,,83.9906,7.35,,
,,,,,,,,83.3723,7.4,,
,,,,,,,,82.6773,7.45,,
,,,,,,,,81.9179,7.5,,
,,,,,,,,81.1056,7.55,,
,,,,,,,,80.2508,7.6,,
,,,,,,,,79.3635,7.65,,
,,,,,,,,78.4525,7.7,,
,,,,,,,,77.5263,7.75,,
,,,,,,,,76.5922,7.8,,
,,,,,,,,75.657,7.85,,
,,,,,,,,74.7268,7.9,,
,,,,,,,,73.8071,7.95,,
,,,,,,,,72.9026,8,,
,,,,,,,,72.0176,8.05,,
,,,,,,,,71.1558,8.1,,
,,,,,,,,70.3202,8.15,,
,,,,,,,,69.5136,8.2,,
,,,,,,,,68.7381,8.25,,
,,,,,,,,67.9955,8.3,,
,,,,,,,,67.2871,8.35,,
,,,,,,,,66.6139,8.4,,
,,,,,,,,65.9768,8.45,,
,,,,,,,,65.3759,8.5,,
,,,,,,,,64.8115,8.55,,
,,,,,,,,64.2833,8.6,,
,,,,,,,,63.7911,8.65,,
,,,,,,,,63.3342,8.7,,
,,,,,,,,62.912,8.75,,
,,,,,,,,62.5236,8.8,,
,,,,,,,,62.1679,8.85,,
,,,,,,,,61.8438,8.9,,
,,,,,,,,61.5502,8.95,,
,,,,,,,,61.2857,9,,
,,,,,,,,61.0491,9.05,,
,,,,,,,,60.8389,9.1,,
,,,,,,,,60.6538,9.15,,
,,,,,,,,60.4922,9.2,,
,,,,,,,,60.3529,9.25,,
,,,,,,,,60.2343,9.3,,
,,,,,,,,60.1351,9.35,,
,,,,,,,,60.0537,9.4,,
,,,,,,,,59.989,9.45,,
,,,,,,,,59.9395,9.5,,
,,,,,,,,59.9039,9.55,,
,,,,,,,,59.8811,9.6,,
,,,,,,,,59.8696,9.65,,
,,,,,,,,59.8685,9.7,,
,,,,,,,,59.8767,9.75,,
,,,,,,,,59.8929,9.8,,
,,,,,,,,59.9163,9.85,,
,,,,,,,,59.946,9.9,,
,,,,,,,,59.9809,9.95,,
,,,,,,,,60.0204,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,2,,,0,1
,,,,,,,,0,0,,
,,,,,,,,-51213,0.05,,
,,,,,,,,-50496.5,0.1,,
,,,,,,,,-48077.2,0.15,,
,,,,,,,,-45549.3,0.2,,
,,,,,,,,-42984.2,0.25,,
,,,,,,,,-40403.5,0.3,,
,,,,,,,,-37825.7,0.35,,
,,,,,,,,-35267.1,0.4,,
,,,,,,,,-32742.1,0.45,,
,,,,,,,,-30263.8,0.5,,
,,,,,,,,-27843.2,0.55,,
,,,,,,,,-25490.2,0.6,,
,,,,,,,,-23213,0.65,,
,,,,,,,,-21018.5,0.7,,
,,,,,,,,-18912.5,0.75,,
,,,,,,,,-16899.6,0.8,,
,,,,,,,,-14983.1,0.85,,
,,,,,,,,-13165.6,0.9,,
,,,,,,,,-11448.7,0.95,,
,,,,,,,,-9833.18,1,,
,,,,,,,,-8319.12,1.05,,
,,,,,,,,-6905.92,1.1,,
,,,,,,,,-5592.37,1.15,,
,,,,,,,,-4376.75,1.2,,
,,,,,,,,-3256.91,1.25,,
,,,,,,,,-2230.26,1.3,,
,,,,,,,,-1293.91,1.35,,
,,,,,,,,-444.659,1.4,,
,,,,,,,,320.919,1.45,,
,,,,,,,,1006.44,1.5,,
,,,,,,,,1615.67,1.55,,
,,,,,,,,2152.49,1.6,,
,,,,,,,,2620.82,1.65,,
,,,,,,,,3024.67,1.7,,
,,,,,,,,3368.01,1.75,,
,,,,,,,,3654.82,1.8,,
,,,,,,,,3889.04,1.85,,
,,,,,,,,4074.52,1.9,,
,,,,,,,,4215.07,1.95,,
,,,,,,,,4314.37,2,,
,,,,,,,,4375.99,2.05,,
,,,,,,,,4403.41,2.1,,
,,,,,,,,4399.93,2.15,,
,,,,,,,,4368.74,2.2,,
,,,,,,,,4312.88,2.25,,
,,,,,,,,4235.24,2.3,,
,,,,,,,,4138.54,2.35,,
,,,,,,,,4025.36,2.4,,
,,,,,,,,3898.11,2.45,,
,,,,,,,,3759.06,2.5,,
,,,,,,,,3610.32,2.55,,
,,,,,,,,3453.82,2.6,,
,,,,,,,,3291.38,2.65,,
,,,,,,,,3124.66,2.7,,
,,,,,,,,2955.16,2.75,,
,,,,,,,,2784.28,2.8,,
,,,,,,,,2613.24,2.85,,
,,,,,,,,2443.18,2.9,,
,,,,,,,,2275.09,2.95,,
,,,,,,,,2109.85,3,,
,,,,,,,,1948.24,3.05,,
,,,,,,,,1790.94,3.1,,
,,,,,,,,1638.51,3.15,,
,,,,,,,,1491.44,3.2,,
,,,,,,,,1350.13,3.25,,
,,,,,,,,1214.91,3.3,,
,,,,,,,,1086.03,3.35,,
,,,,,,,,963.669,3.4,,
,,,,,,,,906.331,3.45,,
,,,,,,,,734.045,3.5,,
,,,,,,,,629.774,3.55,,
,,,,,,,,534.164,3.6,,
,,,,,,,,445.286,3.65,,
,,,,,,,,362.974,3.7,,
,,,,,,,,287.085,3.75,,
,,,,,,,,217.453,3.8,,
,,,,,,,,153.887,3.85,,
,,,,,,,,96.176,3.9,,
,,,,,,,,44.0944,3.95,,
,,,,,,,,-2.59792,4,,
,,,,,,,,-44.1509,4.05,,
,,,,,,,,-80.822,4.1,,
,,,,,,,,-112.874,4.15,,
,,,,,,,,-140.573,4.2,,
,,,,,,,,-164.185,4.25,,
,,,,,,,,-183.976,4.3,,
,,,,,,,,-200.209,4.35,,
,,,,,,,,-213.144,4.4,,
,,,,,,,,-223.034,4.45,,
,,,,,,,,-230.127,4.5,,
,,,,,,,,-234.664,4.55,,
,,,,,,,,-236.877,4.6,,
,,,,,,,,-236.989,4.65,,
,,,,,,,,-235.215,4.7,,
,,,,,,,,-231.76,4.75,,
,,,,,,,,-226.816,4.8,,
,,,,,,,,-220.57,4.85,,
,,,,,,,,-213.194,4.9,,
,,,,,,,,-204.852,4.95,,
,,,,,,,,-195.696,5,,
,,,,,,,,-185.87,5.05,,
,,,,,,,,-175.504,5.1,,
,,,,,,,,-164.722,5.15,,
,,,,,,,,-153.635,5.2,,
,,,,,,,,-142.347,5.25,,
,,,,,,,,-130.95,5.3,,
,,,,,,,,-119.53,5.35,,
,,,,,,,,-108.163,5.4,,
,,,,,,,,-96.9169,5.45,,
,,,,,,,,-85.8517,5.5,,
,,,,,,,,-75.0206,5.55,,
,,,,,,,,-64.4696,5.6,,
,,,,,,,,-54.2384,5.65,,
,,,,,,,,-44.3601,5.7,,
,,,,,,,,-34.8627,5.75,,
,,,,,,,,-25.7684,5.8,,
,,,,,,,,-17.0949,5.85,,
,,,,,,,,-8.85506,5.9,,
,,,,,,,,-1.05784,5.95,,
,,,,,,,,6.29167,6,,
,,,,,,,,13.1918,6.05,,
,,,,,,,,19.6438,6.1,,
,,,,,,,,25.652,6.15,,
,,,,,,,,31.2228,6.2,,
,,,,,,,,33.2505,6.25,,
,,,,,,,,41.3504,6.3,,
,,,,,,,,45.7749,6.35,,
,,,,,,,,49.7027,6.4,,
,,,,,,,,53.2475,6.45,,
,,,,,,,,56.4285,6.5,,
,,,,,,,,59.2623,6.55,,
,,,,,,,,61.7661,6.6,,
,,,,,,,,63.9575,6.65,,
,,,,,,,,65.8543,6.7,,
,,,,,,,,67.4742,6.75,,
,,,,,,,,68.8351,6.8,,
,,,,,,,,69.9546,6.85,,
,,,,,,,,70.8503,6.9,,
,,,,,,,,71.539,6.95,,
,,,,,,,,72.0376,7,,
,,,,,,,,72.3622,7.05,,
,,,,,,,,72.5285,7.1,,
,,,,,,,,72.5515,7.15,,
,,,,,,,,72.4457,7.2,,
,,,,,,,,72.2248,7.25,,
,,,,,,,,71.9022,7.3,,
,,,,,,,,71.4901,7.35,,
,,,,,,,,71.0004,7.4,,
,,,,,,,,70.4441,7.45,,
,,,,,,,,69.8316,7.5,,
,,,,,,,,69.1725,7.55,,
,,,,,,,,68.4758,7.6,,
,,,,,,,,67.7498,7.65,,
,,,,,,,,67.0021,7.7,,
,,,,,,,,66.2397,7.75,,
,,,,,,,,65.469,7.8,,
,,,,,,,,64.6958,7.85,,
,,,,,,,,63.9253,7.9,,
,,,,,,,,63.1621,7.95,,
,,,,,,,,62.4104,8,,
,,,,,,,,61.6737,8.05,,
,,,,,,,,60.9553,8.1,,
,,,,,,,,60.2578,8.15,,
,,,,,,,,59.5836,8.2,,
,,,,,,,,58.9346,8.25,,
,,,,,,,,58.3124,8.3,,
,,,,,,,,57.7182,8.35,,
,,,,,,,,57.1528,8.4,,
,,,,,,,,56.6171,8.45,,
,,,,,,,,56.1112,8.5,,
,,,,,,,,55.6355,8.55,,
,,,,,,,,55.1897,8.6,,
,,,,,,,,54.7738,8.65,,
,,,,,,,,54.3873,8.7,,
,,,,,,,,54.0295,8.75,,
,,,,,,,,53.6999,8.8,,
,,,,,,,,53.3976,8.85,,
,,,,,,,,53.1218,8.9,,
,,,,,,,,52.8714,8.95,,
,,,,,,,,52.6454,9,,
,,,,,,,,52.4427,9.05,,
,,,,,,,,52.2623,9.1,,
,,,,,,,,52.1029,9.15,,
,,,,,,,,51.9633,9.2,,
,,,,,,,,51.8425,9.25,,
,,,,,,,,51.7391,9.3,,
,,,,,,,,51.6521,9.35,,
,,,,,,,,51.5803,9.4,,
,,,,,,,,51.5225,9.45,,
,,,,,,,,51.4776,9.5,,
,,,,,,,,51.4445,9.55,,
,,,,,,,,51.4223,9.6,,
,,,,,,,,51.4098,9.65,,
,,,,,,,,51.4061,9.7,,
,,,,,,,,51.4103,9.75,,
,,,,,,,,51.4215,9.8,,
,,,,,,,,51.4389,9.85,,
,,,,,,,,51.4616,9.9,,
,,,,,,,,51.489,9.95,,
,,,,,,,,51.5202,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,1.5,,,0,1
,,,,,,,,0,0,,
,,,,,,,,-40778.4,0.05,,
,,,,,,,,-40310.9,0.1,,
,,,,,,,,-38479.5,0.15,,
,,,,,,,,-36550.8,0.2,,
,,,,,,,,-34582,0.25,,
,,,,,,,,-32591,0.3,,
,,,,,,,,-30593,0.35,,
,,,,,,,,-28601.6,0.4,,
,,,,,,,,-26628.9,0.45,,
,,,,,,,,-24685.9,0.5,,
,,,,,,,,-22782,0.55,,
,,,,,,,,-20925.5,0.6,,
,,,,,,,,-19123.5,0.65,,
,,,,,,,,-17382.1,0.7,,
,,,,,,,,-15706.4,0.75,,
,,,,,,,,-14100.4,0.8,,
,,,,,,,,-12567.4,0.85,,
,,,,,,,,-11109.8,0.9,,
,,,,,,,,-9729.31,0.95,,
,,,,,,,,-8426.96,1,,
,,,,,,,,-7203.15,1.05,,
,,,,,,,,-6057.76,1.1,,
,,,,,,,,-4990.16,1.15,,
,,,,,,,,-3999.27,1.2,,
,,,,,,,,-3083.66,1.25,,
,,,,,,,,-2241.53,1.3,,
,,,,,,,,-1470.79,1.35,,
,,,,,,,,-769.129,1.4,,
,,,,,,,,-134.001,1.45,,
,,,,,,,,437.299,1.5,,
,,,,,,,,947.612,1.55,,
,,,,,,,,1399.88,1.6,,
,,,,,,,,1797.13,1.65,,
,,,,,,,,2142.42,1.7,,
,,,,,,,,2438.84,1.75,,
,,,,,,,,2689.47,1.8,,
,,,,,,,,2897.38,1.85,,
,,,,,,,,3065.6,1.9,,
,,,,,,,,3197.1,1.95,,
,,,,,,,,3294.79,2,,
,,,,,,,,3361.51,2.05,,
,,,,,,,,3399.98,2.1,,
,,,,,,,,3412.85,2.15,,
,,,,,,,,3402.66,2.2,,
,,,,,,,,3371.83,2.25,,
,,,,,,,,3322.67,2.3,,
,,,,,,,,3257.38,2.35,,
,,,,,,,,3178.02,2.4,,
,,,,,,,,3086.55,2.45,,
,,,,,,,,2984.8,2.5,,
,,,,,,,,2874.47,2.55,,
,,,,,,,,2757.17,2.6,,
,,,,,,,,2634.35,2.65,,
,,,,,,,,2507.37,2.7,,
,,,,,,,,2377.49,2.75,,
,,,,,,,,2245.83,2.8,,
,,,,,,,,2113.44,2.85,,
,,,,,,,,1981.23,2.9,,
,,,,,,,,1850.04,2.95,,
,,,,,,,,1720.62,3,,
,,,,,,,,1593.62,3.05,,
,,,,,,,,1469.61,3.1,,
,,,,,,,,1349.09,3.15,,
,,,,,,,,1232.48,3.2,,
,,,,,,,,1120.13,3.25,,
,,,,,,,,1012.33,3.3,,
,,,,,,,,909.317,3.35,,
,,,,,,,,811.258,3.4,,
,,,,,,,,718.281,3.45,,
,,,,,,,,630.469,3.5,,
,,,,,,,,547.858,3.55,,
,,,,,,,,470.45,3.6,,
,,,,,,,,398.213,3.65,,
,,,,,,,,331.085,3.7,,
,,,,,,,,268.975,3.75,,
,,,,,,,,211.771,3.8,,
,,,,,,,,159.341,3.85,,
,,,,,,,,111.534,3.9,,
,,,,,,,,68.1869,3.95,,
,,,,,,,,29.1226,4,,
,,,,,,,,-5.84484,4.05,,
,,,,,,,,-36.9089,4.1,,
,,,,,,,,-64.2683,4.15,,
,,,,,,,,-88.1256,4.2,,
,,,,,,,,-108.685,4.25,,
,,,,,,,,-126.151,4.3,,
,,,,,,,,-140.728,4.35,,
,,,,,,,,-152.617,4.4,,
,,,,,,,,-162.017,4.45,,
,,,,,,,,-169.121,4.5,,
,,,,,,,,-174.119,4.55,,
,,,,,,,,-177.193,4.6,,
,,,,,,,,-178.521,4.65,,
,,,,,,,,-178.273,4.7,,
,,,,,,,,-176.612,4.75,,
,,,,,,,,-173.694,4.8,,
,,,,,,,,-169.665,4.85,,
,,,,,,,,-164.665,4.9,,
,,,,,,,,-158.827,4.95,,
,,,,,,,,-152.273,5,,
,,,,,,,,-145.119,5.05,,
,,,,,,,,-137.473,5.1,,
,,,,,,,,-129.435,5.15,,
,,,,,,,,-121.096,5.2,,
,,,,,,,,-112.542,5.25,,
,,,,,,,,-103.849,5.3,,
,,,,,,,,-95.0881,5.35,,
,,,,,,,,-86.3229,5.4,,
,,,,,,,,-77.6102,5.45,,
,,,,,,,,-69.0011,5.5,,
,,,,,,,,-60.5406,5.55,,
,,,,,,,,-52.2682,5.6,,
,,,,,,,,-44.218,5.65,,
,,,,,,,,-36.4193,5.7,,
,,,,,,,,-28.8969,5.75,,
,,,,,,,,-21.6711,5.8,,
,,,,,,,,-14.7581,5.85,,
,,,,,,,,-8.17076,5.9,,
,,,,,,,,-1.91826,5.95,,
,,,,,,,,3.99325,6,,
,,,,,,,,9.56042,6.05,,
,,,,,,,,14.7825,6.1,,
,,,,,,,,19.6611,6.15,,
,,,,,,,,24.1997,6.2,,
,,,,,,,,28.4038,6.25,,
,,,,,,,,32.2804,6.3,,
,,,,,,,,35.838,6.35,,
,,,,,,,,39.0862,6.4,,
,,,,,,,,42.0357,6.45,,
,,,,,,,,44.6978,6.5,,
,,,,,,,,47.0849,6.55,,
,,,,,,,,49.2095,6.6,,
,,,,,,,,51.0848,6.65,,
,,,,,,,,52.7241,6.7,,
,,,,,,,,54.1409,6.75,,
,,,,,,,,55.3488,6.8,,
,,,,,,,,56.3614,6.85,,
,,,,,,,,57.1921,6.9,,
,,,,,,,,57.8539,6.95,,
,,,,,,,,58.36,7,,
,,,,,,,,58.723,7.05,,
,,,,,,,,58.955,7.1,,
,,,,,,,,59.068,7.15,,
,,,,,,,,59.0734,7.2,,
,,,,,,,,58.982,7.25,,
,,,,,,,,58.8044,7.3,,
,,,,,,,,58.5505,7.35,,
,,,,,,,,58.2296,7.4,,
,,,,,,,,57.8507,7.45,,
,,,,,,,,57.4221,7.5,,
,,,,,,,,56.9516,7.55,,
,,,,,,,,56.4464,7.6,,
,,,,,,,,55.9135,7.65,,
,,,,,,,,55.3589,7.7,,
,,,,,,,,54.7885,7.75,,
,,,,,,,,54.2075,7.8,,
,,,,,,,,53.6207,7.85,,
,,,,,,,,53.0324,7.9,,
,,,,,,,,52.4466,7.95,,
,,,,,,,,51.8668,8,,
,,,,,,,,51.2959,8.05,,
,,,,,,,,50.7368,8.1,,
,,,,,,,,50.1919,8.15,,
,,,,,,,,49.6631,8.2,,
,,,,,,,,49.1521,8.25,,
,,,,,,,,48.6605,8.3,,
,,,,,,,,48.1893,8.35,,
,,,,,,,,47.7395,8.4,,
,,,,,,,,47.3117,8.45,,
,,,,,,,,46.9064,8.5,,
,,,,,,,,46.5239,8.55,,
,,,,,,,,46.1643,8.6,,
,,,,,,,,45.8275,8.65,,
,,,,,,,,45.5133,8.7,,
,,,,,,,,45.2214,8.75,,
,,,,,,,,44.9513,8.8,,
,,,,,,,,44.7026,8.85,,
,,,,,,,,44.4745,8.9,,
,,,,,,,,44.2665,8.95,,
,,,,,,,,44.0777,9,,
,,,,,,,,43.9074,9.05,,
,,,,,,,,43.7548,9.1,,
,,,,,,,,43.6189,9.15,,
,,,,,,,,43.4989,9.2,,
,,,,,,,,43.3939,9.25,,
,,,,,,,,43.303,9.3,,
,,,,,,,,43.2254,9.35,,
,,,,,,,,43.16,9.4,,
,,,,,,,,43.1061,9.45,,
,,,,,,,,43.0627,9.5,,
,,,,,,,,43.0291,9.55,,
,,,,,,,,43.0044,9.6,,
,,,,,,,,42.9878,9.65,,
,,,,,,,,42.9785,9.7,,
,,,,,,,,42.9759,9.75,,
,,,,,,,,42.9791,9.8,,
,,,,,,,,42.9876,9.85,,
,,,,,,,,43.0008,9.9,,
,,,,,,,,43.0179,9.95,,
,,,,,,,,43.0385,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,1,,,0,1
,,,,,,,,0,0,,
,,,,,,,,-30343.7,0.05,,
,,,,,,,,-30125.3,0.1,,
,,,,,,,,-28881.9,0.15,,
,,,,,,,,-27552.3,0.2,,
,,,,,,,,-26179.8,0.25,,
,,,,,,,,-24778.5,0.3,,
,,,,,,,,-23360.3,0.35,,
,,,,,,,,-21936.1,0.4,,
,,,,,,,,-20515.7,0.45,,
,,,,,,,,-19108,0.5,,
,,,,,,,,-17720.7,0.55,,
,,,,,,,,-16360.7,0.6,,
,,,,,,,,-15034,0.65,,
,,,,,,,,-13745.7,0.7,,
,,,,,,,,-12500.2,0.75,,
,,,,,,,,-11301.2,0.8,,
,,,,,,,,-10151.7,0.85,,
,,,,,,,,-9054.01,0.9,,
,,,,,,,,-8009.93,0.95,,
,,,,,,,,-7020.73,1,,
,,,,,,,,-6087.18,1.05,,
,,,,,,,,-5209.6,1.1,,
,,,,,,,,-4387.95,1.15,,
,,,,,,,,-3621.79,1.2,,
,,,,,,,,-2910.41,1.25,,
,,,,,,,,-2252.79,1.3,,
,,,,,,,,-1647.67,1.35,,
,,,,,,,,-1093.6,1.4,,
,,,,,,,,-588.92,1.45,,
,,,,,,,,-131.843,1.5,,
,,,,,,,,279.551,1.55,,
,,,,,,,,647.28,1.6,,
,,,,,,,,973.438,1.65,,
,,,,,,,,1260.17,1.7,,
,,,,,,,,1509.66,1.75,,
,,,,,,,,1724.11,1.8,,
,,,,,,,,1905.72,1.85,,
,,,,,,,,2056.67,1.9,,
,,,,,,,,2179.13,1.95,,
,,,,,,,,2275.22,2,,
,,,,,,,,2347.02,2.05,,
,,,,,,,,2396.56,2.1,,
,,,,,,,,2425.78,2.15,,
,,,,,,,,2436.58,2.2,,
,,,,,,,,2430.77,2.25,,
,,,,,,,,2410.1,2.3,,
,,,,,,,,2376.21,2.35,,
,,,,,,,,2330.67,2.4,,
,,,,,,,,2274.98,2.45,,
,,,,,,,,2210.53,2.5,,
,,,,,,,,2138.63,2.55,,
,,,,,,,,2060.51,2.6,,
,,,,,,,,1977.31,2.65,,
,,,,,,,,1890.09,2.7,,
,,,,,,,,1799.82,2.75,,
,,,,,,,,1707.39,2.8,,
,,,,,,,,1613.63,2.85,,
,,,,,,,,1519.27,2.9,,
,,,,,,,,1424.99,2.95,,
,,,,,,,,1331.39,3,,
,,,,,,,,1239,3.05,,
,,,,,,,,1180.21,3.1,,
,,,,,,,,1057,3.15,,
,,,,,,,,969.762,3.2,,
,,,,,,,,886.352,3.25,,
,,,,,,,,806.014,3.3,,
,,,,,,,,728.923,3.35,,
,,,,,,,,655.244,3.4,,
,,,,,,,,585.105,3.45,,
,,,,,,,,518.594,3.5,,
,,,,,,,,455.772,3.55,,
,,,,,,,,396.665,3.6,,
,,,,,,,,341.276,3.65,,
,,,,,,,,289.581,3.7,,
,,,,,,,,241.537,3.75,,
,,,,,,,,223.578,3.8,,
,,,,,,,,153.908,3.85,,
,,,,,,,,115.467,3.9,,
,,,,,,,,81.2227,3.95,,
,,,,,,,,50.2126,4,,
,,,,,,,,22.2826,4.05,,
,,,,,,,,-2.70268,4.1,,
,,,,,,,,-24.8834,4.15,,
,,,,,,,,-44.4032,4.2,,
,,,,,,,,-61.4084,4.25,,
,,,,,,,,-76.0465,4.3,,
,,,,,,,,-88.4653,4.35,,
,,,,,,,,-98.8115,4.4,,
,,,,,,,,-107.231,4.45,,
,,,,,,,,-113.865,4.5,,
,,,,,,,,-118.856,4.55,,
,,,,,,,,-122.337,4.6,,
,,,,,,,,-124.442,4.65,,
,,,,,,,,-125.298,4.7,,
,,,,,,,,-125.027,4.75,,
,,,,,,,,-123.746,4.8,,
,,,,,,,,-121.566,4.85,,
,,,,,,,,-118.595,4.9,,
,,,,,,,,-114.931,4.95,,
,,,,,,,,-110.67,5,,
,,,,,,,,-105.9,5.05,,
,,,,,,,,-100.704,5.1,,
,,,,,,,,-95.16,5.15,,
,,,,,,,,-89.3383,5.2,,
,,,,,,,,-83.3054,5.25,,
,,,,,,,,-77.1218,5.3,,
,,,,,,,,-70.843,5.35,,
,,,,,,,,-64.5192,5.4,,
,,,,,,,,-58.1959,5.45,,
,,,,,,,,-51.914,5.5,,
,,,,,,,,-45.7098,5.55,,
,,,,,,,,-39.6154,5.6,,
,,,,,,,,-33.6591,5.65,,
,,,,,,,,-27.8651,5.7,,
,,,,,,,,-22.2543,5.75,,
,,,,,,,,-16.8442,5.8,,
,,,,,,,,-11.6493,5.85,,
,,,,,,,,-6.68107,5.9,,
,,,,,,,,-1.9485,5.95,,
,,,,,,,,2.54197,6,,
,,,,,,,,6.78606,6.05,,
,,,,,,,,10.7815,6.1,,
,,,,,,,,14.528,6.15,,
,,,,,,,,18.0268,6.2,,
,,,,,,,,21.2805,6.25,,
,,,,,,,,24.2932,6.3,,
,,,,,,,,27.0701,6.35,,
,,,,,,,,29.6173,6.4,,
,,,,,,,,31.9419,6.45,,
,,,,,,,,34.0516,6.5,,
,,,,,,,,35.9547,6.55,,
,,,,,,,,37.66,6.6,,
,,,,,,,,39.1768,6.65,,
,,,,,,,,40.5145,6.7,,
,,,,,,,,41.6827,6.75,,
,,,,,,,,42.6912,6.8,,
,,,,,,,,43.5498,6.85,,
,,,,,,,,44.2683,6.9,,
,,,,,,,,44.8563,6.95,,
,,,,,,,,45.3233,7,,
,,,,,,,,45.6788,7.05,,
,,,,,,,,45.9316,7.1,,
,,,,,,,,46.0908,7.15,,
,,,,,,,,46.1648,7.2,,
,,,,,,,,46.1618,7.25,,
,,,,,,,,46.0897,7.3,,
,,,,,,,,45.956,7.35,,
,,,,,,,,45.7678,7.4,,
,,,,,,,,45.5318,7.45,,
,,,,,,,,45.2545,7.5,,
,,,,,,,,44.9419,7.55,,
,,,,,,,,44.5995,7.6,,
,,,,,,,,44.2325,7.65,,
,,,,,,,,43.8459,7.7,,
,,,,,,,,43.444,7.75,,
,,,,,,,,43.0311,7.8,,
,,,,,,,,42.6108,7.85,,
,,,,,,,,42.1866,7.9,,
,,,,,,,,41.7617,7.95,,
,,,,,,,,41.3387,8,,
,,,,,,,,40.9202,8.05,,
,,,,,,,,40.5084,8.1,,
,,,,,,,,40.1053,8.15,,
,,,,,,,,39.7124,8.2,,
,,,,,,,,39.3314,8.25,,
,,,,,,,,38.9633,8.3,,
,,,,,,,,38.6093,8.35,,
,,,,,,,,38.2701,8.4,,
,,,,,,,,37.9463,8.45,,
,,,,,,,,37.6385,8.5,,
,,,,,,,,37.3469,8.55,,
,,,,,,,,37.0718,8.6,,
,,,,,,,,36.8132,8.65,,
,,,,,,,,36.5711,8.7,,
,,,,,,,,36.3453,8.75,,
,,,,,,,,36.1355,8.8,,
,,,,,,,,35.9414,8.85,,
,,,,,,,,35.7628,8.9,,
,,,,,,,,35.599,8.95,,
,,,,,,,,35.4495,9,,
,,,,,,,,35.314,9.05,,
,,,,,,,,35.1917,9.1,,
,,,,,,,,35.0821,9.15,,
,,,,,,,,34.9846,9.2,,
,,,,,,,,34.8985,9.25,,
,,,,,,,,34.8231,9.3,,
,,,,,,,,34.7579,9.35,,
,,,,,,,,34.7021,9.4,,
,,,,,,,,34.6552,9.45,,
,,,,,,,,34.6165,9.5,,
,,,,,,,,34.5853,9.55,,
,,,,,,,,34.5611,9.6,,
,,,,,,,,34.5433,9.65,,
,,,,,,,,34.5313,9.7,,
,,,,,,,,34.5245,9.75,,
,,,,,,,,34.5225,9.8,,
,,,,,,,,34.5247,9.85,,
,,,,,,,,34.5307,9.9,,
,,,,,,,,34.5399,9.95,,
,,,,,,,,34.552,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,0.5,,,0,1
,,,,,,,,0,0,,
,,,,,,,,-19909.1,0.05,,
,,,,,,,,-19939.6,0.1,,
,,,,,,,,-19284.2,0.15,,
,,,,,,,,-18553.8,0.2,,
,,,,,,,,-17777.7,0.25,,
,,,,,,,,-16965.9,0.3,,
,,,,,,,,-16127.5,0.35,,
,,,,,,,,-15270.6,0.4,,
,,,,,,,,-14402.6,0.45,,
,,,,,,,,-13530.2,0.5,,
,,,,,,,,-12659.5,0.55,,
,,,,,,,,-11796,0.6,,
,,,,,,,,-10944.5,0.65,,
,,,,,,,,-10109.3,0.7,,
,,,,,,,,-9294.04,0.75,,
,,,,,,,,-8502.04,0.8,,
,,,,,,,,-7736.01,0.85,,
,,,,,,,,-6998.22,0.9,,
,,,,,,,,-6290.56,0.95,,
,,,,,,,,-5614.51,1,,
,,,,,,,,-4971.21,1.05,,
,,,,,,,,-4361.45,1.1,,
,,,,,,,,-3785.74,1.15,,
,,,,,,,,-3244.31,1.2,,
,,,,,,,,-2737.16,1.25,,
,,,,,,,,-2264.05,1.3,,
,,,,,,,,-1824.55,1.35,,
,,,,,,,,-1418.07,1.4,,
,,,,,,,,-1043.84,1.45,,
,,,,,,,,-700.986,1.5,,
,,,,,,,,-388.51,1.55,,
,,,,,,,,-105.323,1.6,,
,,,,,,,,149.745,1.65,,
,,,,,,,,377.923,1.7,,
,,,,,,,,580.49,1.75,,
,,,,,,,,758.757,1.8,,
,,,,,,,,914.06,1.85,,
,,,,,,,,1047.75,1.9,,
,,,,,,,,1161.16,1.95,,
,,,,,,,,1255.65,2,,
,,,,,,,,1332.54,2.05,,
,,,,,,,,1393.13,2.1,,
,,,,,,,,1438.7,2.15,,
,,,,,,,,1470.5,2.2,,
,,,,,,,,1489.72,2.25,,
,,,,,,,,1497.53,2.3,,
,,,,,,,,1495.04,2.35,,
,,,,,,,,1483.33,2.4,,
,,,,,,,,1463.42,2.45,,
,,,,,,,,1436.26,2.5,,
,,,,,,,,1402.79,2.55,,
,,,,,,,,1363.86,2.6,,
,,,,,,,,1320.28,2.65,,
,,,,,,,,1272.8,2.7,,
,,,,,,,,1222.14,2.75,,
,,,,,,,,1168.95,2.8,,
,,,,,,,,1113.82,2.85,,
,,,,,,,,1057.32,2.9,,
,,,,,,,,999.947,2.95,,
,,,,,,,,942.16,3,,
,,,,,,,,884.377,3.05,,
,,,,,,,,826.969,3.1,,
,,,,,,,,770.269,3.15,,
,,,,,,,,714.571,3.2,,
,,,,,,,,660.132,3.25,,
,,,,,,,,607.174,3.3,,
,,,,,,,,555.888,3.35,,
,,,,,,,,506.434,3.4,,
,,,,,,,,458.944,3.45,,
,,,,,,,,413.524,3.5,,
,,,,,,,,370.254,3.55,,
,,,,,,,,329.194,3.6,,
,,,,,,,,290.384,3.65,,
,,,,,,,,253.844,3.7,,
,,,,,,,,219.577,3.75,,
,,,,,,,,187.572,3.8,,
,,,,,,,,157.804,3.85,,
,,,,,,,,130.236,3.9,,
,,,,,,,,104.822,3.95,,
,,,,,,,,81.5051,4,,
,,,,,,,,60.2211,4.05,,
,,,,,,,,40.8995,4.1,,
,,,,,,,,23.4643,4.15,,
,,,,,,,,7.83503,4.2,,
,,,,,,,,-6.07218,4.25,,
,,,,,,,,-18.3438,4.3,,
,,,,,,,,-29.0679,4.35,,
,,,,,,,,-38.3336,4.4,,
,,,,,,,,-46.2303,4.45,,
,,,,,,,,-52.8472,4.5,,
,,,,,,,,-58.2725,4.55,,
,,,,,,,,-62.5931,4.6,,
,,,,,,,,-65.8941,4.65,,
,,,,,,,,-68.2587,4.7,,
,,,,,,,,-69.7673,4.75,,
,,,,,,,,-70.4978,4.8,,
,,,,,,,,-70.5251,4.85,,
,,,,,,,,-69.9211,4.9,,
,,,,,,,,-68.7542,4.95,,
,,,,,,,,-67.0897,5,,
,,,,,,,,-64.9891,5.05,,
,,,,,,,,-62.5108,5.1,,
,,,,,,,,-59.7093,5.15,,
,,,,,,,,-56.6359,5.2,,
,,,,,,,,-53.3383,5.25,,
,,,,,,,,-49.8606,5.3,,
,,,,,,,,-46.2439,5.35,,
,,,,,,,,-42.5257,5.4,,
,,,,,,,,-38.7404,5.45,,
,,,,,,,,-34.9194,5.5,,
,,,,,,,,-31.091,5.55,,
,,,,,,,,-27.2808,5.6,,
,,,,,,,,-23.5114,5.65,,
,,,,,,,,-19.8031,5.7,,
,,,,,,,,-16.1736,5.75,,
,,,,,,,,-12.6383,5.8,,
,,,,,,,,-9.21037,5.85,,
,,,,,,,,-5.90106,5.9,,
,,,,,,,,-2.71958,5.95,,
,,,,,,,,0.326573,6,,
,,,,,,,,3.23155,6.05,,
,,,,,,,,5.991,6.1,,
,,,,,,,,8.60199,6.15,,
,,,,,,,,11.0628,6.2,,
,,,,,,,,13.3729,6.25,,
,,,,,,,,15.5328,6.3,,
,,,,,,,,17.5438,6.35,,
,,,,,,,,19.4083,6.4,,
,,,,,,,,21.129,6.45,,
,,,,,,,,22.7096,6.5,,
,,,,,,,,24.1542,6.55,,
,,,,,,,,25.4674,6.6,,
,,,,,,,,26.6541,6.65,,
,,,,,,,,27.7195,6.7,,
,,,,,,,,28.6692,6.75,,
,,,,,,,,29.5088,6.8,,
,,,,,,,,30.2441,6.85,,
,,,,,,,,30.8811,6.9,,
,,,,,,,,31.4257,6.95,,
,,,,,,,,31.8838,7,,
,,,,,,,,32.2612,7.05,,
,,,,,,,,32.5638,7.1,,
,,,,,,,,32.7971,7.15,,
,,,,,,,,32.9669,7.2,,
,,,,,,,,33.0784,7.25,,
,,,,,,,,33.1369,7.3,,
,,,,,,,,33.1474,7.35,,
,,,,,,,,33.1147,7.4,,
,,,,,,,,33.0434,7.45,,
,,,,,,,,32.9379,7.5,,
,,,,,,,,32.8024,7.55,,
,,,,,,,,32.6407,7.6,,
,,,,,,,,32.4567,7.65,,
,,,,,,,,32.2536,7.7,,
,,,,,,,,32.0348,7.75,,
,,,,,,,,31.8033,7.8,,
,,,,,,,,31.5618,7.85,,
,,,,,,,,31.3129,7.9,,
,,,,,,,,31.0589,7.95,,
,,,,,,,,30.8019,8,,
,,,,,,,,30.544,8.05,,
,,,,,,,,30.2868,8.1,,
,,,,,,,,30.0319,8.15,,
,,,,,,,,29.7806,8.2,,
,,,,,,,,29.5343,8.25,,
,,,,,,,,29.2939,8.3,,
,,,,,,,,29.0605,8.35,,
,,,,,,,,28.8346,8.4,,
,,,,,,,,28.6171,8.45,,
,,,,,,,,28.4085,8.5,,
,,,,,,,,28.2091,8.55,,
,,,,,,,,28.0192,8.6,,
,,,,,,,,27.8392,8.65,,
,,,,,,,,27.6691,8.7,,
,,,,,,,,27.509,8.75,,
,,,,,,,,27.3588,8.8,,
,,,,,,,,27.2185,8.85,,
,,,,,,,,27.0881,8.9,,
,,,,,,,,26.9672,8.95,,
,,,,,,,,26.8556,9,,
,,,,,,,,26.7532,9.05,,
,,,,,,,,26.6595,9.1,,
,,,,,,,,26.5743,9.15,,
,,,,,,,,26.4973,9.2,,
,,,,,,,,26.4281,9.25,,
,,,,,,,,26.3662,9.3,,
,,,,,,,,26.3114,9.35,,
,,,,,,,,26.2632,9.4,,
,,,,,,,,26.2213,9.45,,
,,,,,,,,26.1852,9.5,,
,,,,,,,,26.1545,9.55,,
,,,,,,,,26.1289,9.6,,
,,,,,,,,26.108,9.65,,
,,,,,,,,26.0915,9.7,,
,,,,,,,,26.0789,9.75,,
,,,,,,,,26.0699,9.8,,
,,,,,,,,26.0642,9.85,,
,,,,,,,,26.0614,9.9,,
,,,,,,,,26.0613,9.95,,
,,,,,,,,26.0635,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,3,,,0,0.75
,,,,,,,,0,0,,
,,,,,,,,-69713.6,0.05,,
,,,,,,,,-68429.2,0.1,,
,,,,,,,,-64850.8,0.15,,
,,,,,,,,-61157.3,0.2,,
,,,,,,,,-57444.5,0.25,,
,,,,,,,,-53740.1,0.3,,
,,,,,,,,-50067.3,0.35,,
,,,,,,,,-46446.5,0.4,,
,,,,,,,,-42895.9,0.45,,
,,,,,,,,-39431.1,0.5,,
,,,,,,,,-36065.8,0.55,,
,,,,,,,,-32811.5,0.6,,
,,,,,,,,-29677.9,0.65,,
,,,,,,,,-26672.8,0.7,,
,,,,,,,,-23802.5,0.75,,
,,,,,,,,-21071.8,0.8,,
,,,,,,,,-18484,0.85,,
,,,,,,,,-16041.1,0.9,,
,,,,,,,,-13744.2,0.95,,
,,,,,,,,-11593.1,1,,
,,,,,,,,-9586.79,1.05,,
,,,,,,,,-7723.43,1.1,,
,,,,,,,,-6000.41,1.15,,
,,,,,,,,-4414.5,1.2,,
,,,,,,,,-2961.92,1.25,,
,,,,,,,,-1638.39,1.3,,
,,,,,,,,-439.268,1.35,,
,,,,,,,,640.441,1.4,,
,,,,,,,,1605.98,1.45,,
,,,,,,,,2462.79,1.5,,
,,,,,,,,3216.48,1.55,,
,,,,,,,,3872.72,1.6,,
,,,,,,,,4437.24,1.65,,
,,,,,,,,4915.79,1.7,,
,,,,,,,,5314.07,1.75,,
,,,,,,,,5637.73,1.8,,
,,,,,,,,5892.3,1.85,,
,,,,,,,,6083.22,1.9,,
,,,,,,,,6215.76,1.95,,
,,,,,,,,6295.04,2,,
,,,,,,,,6325.99,2.05,,
,,,,,,,,6313.37,2.1,,
,,,,,,,,6261.71,2.15,,
,,,,,,,,6175.34,2.2,,
,,,,,,,,6058.37,2.25,,
,,,,,,,,5914.69,2.3,,
,,,,,,,,5747.94,2.35,,
,,,,,,,,5561.59,2.4,,
,,,,,,,,5358.82,2.45,,
,,,,,,,,5142.63,2.5,,
,,,,,,,,4915.79,2.55,,
,,,,,,,,4680.86,2.6,,
,,,,,,,,4440.17,2.65,,
,,,,,,,,4195.88,2.7,,
,,,,,,,,3949.92,2.75,,
,,,,,,,,3704.06,2.8,,
,,,,,,,,3459.87,2.85,,
,,,,,,,,3218.76,2.9,,
,,,,,,,,2981.97,2.95,,
,,,,,,,,2750.59,3,,
,,,,,,,,2525.56,3.05,,
,,,,,,,,2307.68,3.1,,
,,,,,,,,2097.62,3.15,,
,,,,,,,,1895.95,3.2,,
,,,,,,,,1703.11,3.25,,
,,,,,,,,1519.43,3.3,,
,,,,,,,,1345.17,3.35,,
,,,,,,,,1180.49,3.4,,
,,,,,,,,1025.47,3.45,,
,,,,,,,,880.124,3.5,,
,,,,,,,,744.4,3.55,,
,,,,,,,,618.191,3.6,,
,,,,,,,,501.338,3.65,,
,,,,,,,,393.637,3.7,,
,,,,,,,,294.849,3.75,,
,,,,,,,,204.698,3.8,,
,,,,,,,,122.883,3.85,,
,,,,,,,,49.0795,3.9,,
,,,,,,,,-17.0558,3.95,,
,,,,,,,,-75.8805,4,,
,,,,,,,,-127.763,4.05,,
,,,,,,,,-173.078,4.1,,
,,,,,,,,-212.206,4.15,,
,,,,,,,,-245.527,4.2,,
,,,,,,,,-273.419,4.25,,
,,,,,,,,-296.259,4.3,,
,,,,,,,,-314.416,4.35,,
,,,,,,,,-328.252,4.4,,
,,,,,,,,-338.119,4.45,,
,,,,,,,,-344.361,4.5,,
,,,,,,,,-347.307,4.55,,
,,,,,,,,-347.276,4.6,,
,,,,,,,,-344.574,4.65,,
,,,,,,,,-339.49,4.7,,
,,,,,,,,-332.301,4.75,,
,,,,,,,,-323.269,4.8,,
,,,,,,,,-312.642,4.85,,
,,,,,,,,-300.65,4.9,,
,,,,,,,,-287.512,4.95,,
,,,,,,,,-273.429,5,,
,,,,,,,,-258.589,5.05,,
,,,,,,,,-243.165,5.1,,
,,,,,,,,-227.317,5.15,,
,,,,,,,,-211.191,5.2,,
,,,,,,,,-194.919,5.25,,
,,,,,,,,-178.621,5.3,,
,,,,,,,,-162.405,5.35,,
,,,,,,,,-146.368,5.4,,
,,,,,,,,-130.594,5.45,,
,,,,,,,,-115.16,5.5,,
,,,,,,,,-100.129,5.55,,
,,,,,,,,-85.558,5.6,,
,,,,,,,,-71.4937,5.65,,
,,,,,,,,-57.9753,5.7,,
,,,,,,,,-45.0343,5.75,,
,,,,,,,,-32.695,5.8,,
,,,,,,,,-20.9759,5.85,,
,,,,,,,,-9.88901,5.9,,
,,,,,,,,0.558554,5.95,,
,,,,,,,,10.3647,6,,
,,,,,,,,19.5317,6.05,,
,,,,,,,,28.0657,6.1,,
,,,,,,,,35.9763,6.15,,
,,,,,,,,43.2761,6.2,,
,,,,,,,,49.9805,6.25,,
,,,,,,,,56.1069,6.3,,
,,,,,,,,61.6749,6.35,,
,,,,,,,,66.7056,6.4,,
,,,,,,,,71.2215,6.45,,
,,,,,,,,75.246,6.5,,
,,,,,,,,78.8032,6.55,,
,,,,,,,,81.9181,6.6,,
,,,,,,,,84.6157,6.65,,
,,,,,,,,86.9211,6.7,,
,,,,,,,,88.8596,6.75,,
,,,,,,,,90.4562,6.8,,
,,,,,,,,91.7354,6.85,,
,,,,,,,,92.7213,6.9,,
,,,,,,,,93.4377,6.95,,
,,,,,,,,93.9073,7,,
,,,,,,,,94.1523,7.05,,
,,,,,,,,94.194,7.1,,
,,,,,,,,94.0529,7.15,,
,,,,,,,,93.7486,7.2,,
,,,,,,,,93.2997,7.25,,
,,,,,,,,92.7238,7.3,,
,,,,,,,,92.0374,7.35,,
,,,,,,,,91.2564,7.4,,
,,,,,,,,90.3954,7.45,,
,,,,,,,,89.468,7.5,,
,,,,,,,,88.487,7.55,,
,,,,,,,,87.4641,7.6,,
,,,,,,,,86.4101,7.65,,
,,,,,,,,85.3351,7.7,,
,,,,,,,,84.2479,7.75,,
,,,,,,,,83.1568,7.8,,
,,,,,,,,82.0693,7.85,,
,,,,,,,,80.9918,7.9,,
,,,,,,,,79.9302,7.95,,
,,,,,,,,78.8898,8,,
,,,,,,,,77.8749,8.05,,
,,,,,,,,76.8895,8.1,,
,,,,,,,,75.9369,8.15,,
,,,,,,,,75.0198,8.2,,
,,,,,,,,74.1404,8.25,,
,,,,,,,,73.3004,8.3,,
,,,,,,,,72.5013,8.35,,
,,,,,,,,71.7438,8.4,,
,,,,,,,,71.0287,8.45,,
,,,,,,,,70.356,8.5,,
,,,,,,,,69.7258,8.55,,
,,,,,,,,69.1377,8.6,,
,,,,,,,,68.5911,8.65,,
,,,,,,,,68.0852,8.7,,
,,,,,,,,67.6192,8.75,,
,,,,,,,,67.1917,8.8,,
,,,,,,,,66.8017,8.85,,
,,,,,,,,66.4477,8.9,,
,,,,,,,,66.1283,8.95,,
,,,,,,,,65.8418,9,,
,,,,,,,,65.5868,9.05,,
,,,,,,,,65.3616,9.1,,
,,,,,,,,65.1646,9.15,,
,,,,,,,,64.994,9.2,,
,,,,,,,,64.8482,9.25,,
,,,,,,,,64.7255,9.3,,
,,,,,,,,64.6244,9.35,,
,,,,,,,,64.5431,9.4,,
,,,,,,,,64.4802,9.45,,
,,,,,,,,64.434,9.5,,
,,,,,,,,64.4032,9.55,,
,,,,,,,,64.3862,9.6,,
,,,,,,,,64.3817,9.65,,
,,,,,,,,64.3884,9.7,,
,,,,,,,,64.405,9.75,,
,,,,,,,,64.4304,9.8,,
,,,,,,,,64.4634,9.85,,
,,,,,,,,64.503,9.9,,
,,,,,,,,64.5481,9.95,,
,,,,,,,,64.5979,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,2.5,,,0,0.75
,,,,,,,,0,0,,
,,,,,,,,-59279,0.05,,
,,,,,,,,-58243.6,0.1,,
,,,,,,,,-55253.1,0.15,,
,,,,,,,,-52158.8,0.2,,
,,,,,,,,-49042.3,0.25,,
,,,,,,,,-45927.6,0.3,,
,,,,,,,,-42834.5,0.35,,
,,,,,,,,-39781,0.4,,
,,,,,,,,-36782.7,0.45,,
,,,,,,,,-33853.3,0.5,,
,,,,,,,,-31004.6,0.55,,
,,,,,,,,-28246.8,0.6,,
,,,,,,,,-25588.4,0.65,,
,,,,,,,,-23036.4,0.7,,
,,,,,,,,-20596.4,0.75,,
,,,,,,,,-18272.6,0.8,,
,,,,,,,,-16068.3,0.85,,
,,,,,,,,-13985.3,0.9,,
,,,,,,,,-12024.8,0.95,,
,,,,,,,,-10186.9,1,,
,,,,,,,,-8470.82,1.05,,
,,,,,,,,-6875.27,1.1,,
,,,,,,,,-5398.2,1.15,,
,,,,,,,,-4037.02,1.2,,
,,,,,,,,-2788.67,1.25,,
,,,,,,,,-1649.65,1.3,,
,,,,,,,,-616.149,1.35,,
,,,,,,,,315.971,1.4,,
,,,,,,,,1151.06,1.45,,
,,,,,,,,1893.65,1.5,,
,,,,,,,,2548.42,1.55,,
,,,,,,,,3120.11,1.6,,
,,,,,,,,3613.55,1.65,,
,,,,,,,,4033.54,1.7,,
,,,,,,,,4384.9,1.75,,
,,,,,,,,4672.37,1.8,,
,,,,,,,,4900.64,1.85,,
,,,,,,,,5074.29,1.9,,
,,,,,,,,5197.79,1.95,,
,,,,,,,,5275.47,2,,
,,,,,,,,5311.51,2.05,,
,,,,,,,,5309.95,2.1,,
,,,,,,,,5274.64,2.15,,
,,,,,,,,5209.26,2.2,,
,,,,,,,,5117.32,2.25,,
,,,,,,,,5002.11,2.3,,
,,,,,,,,4866.78,2.35,,
,,,,,,,,4714.24,2.4,,
,,,,,,,,4547.25,2.45,,
,,,,,,,,4368.36,2.5,,
,,,,,,,,4179.95,2.55,,
,,,,,,,,3984.2,2.6,,
,,,,,,,,3783.14,2.65,,
,,,,,,,,3578.59,2.7,,
,,,,,,,,3372.24,2.75,,
,,,,,,,,3165.61,2.8,,
,,,,,,,,2960.06,2.85,,
,,,,,,,,2756.81,2.9,,
,,,,,,,,2556.92,2.95,,
,,,,,,,,2361.36,3,,
,,,,,,,,2170.94,3.05,,
,,,,,,,,1986.36,3.1,,
,,,,,,,,1808.21,3.15,,
,,,,,,,,1637,3.2,,
,,,,,,,,1473.11,3.25,,
,,,,,,,,1316.85,3.3,,
,,,,,,,,1168.46,3.35,,
,,,,,,,,1028.08,3.4,,
,,,,,,,,895.801,3.45,,
,,,,,,,,771.651,3.5,,
,,,,,,,,655.598,3.55,,
,,,,,,,,547.563,3.6,,
,,,,,,,,447.423,3.65,,
,,,,,,,,355.017,3.7,,
,,,,,,,,270.15,3.75,,
,,,,,,,,192.598,3.8,,
,,,,,,,,122.114,3.85,,
,,,,,,,,58.4306,3.9,,
,,,,,,,,1.26182,3.95,,
,,,,,,,,-49.6893,4,,
,,,,,,,,-94.7299,4.05,,
,,,,,,,,-134.174,4.1,,
,,,,,,,,-168.34,4.15,,
,,,,,,,,-197.546,4.2,,
,,,,,,,,-222.113,4.25,,
,,,,,,,,-242.356,4.3,,
,,,,,,,,-258.586,4.35,,
,,,,,,,,-271.11,4.4,,
,,,,,,,,-280.226,4.45,,
,,,,,,,,-286.224,4.5,,
,,,,,,,,-289.384,4.55,,
,,,,,,,,-289.976,4.6,,
,,,,,,,,-288.26,4.65,,
,,,,,,,,-284.482,4.7,,
,,,,,,,,-278.878,4.75,,
,,,,,,,,-271.671,4.8,,
,,,,,,,,-263.072,4.85,,
,,,,,,,,-253.278,4.9,,
,,,,,,,,-242.476,4.95,,
,,,,,,,,-230.837,5,,
,,,,,,,,-218.524,5.05,,
,,,,,,,,-205.684,5.1,,
,,,,,,,,-192.455,5.15,,
,,,,,,,,-178.961,5.2,,
,,,,,,,,-165.317,5.25,,
,,,,,,,,-151.626,5.3,,
,,,,,,,,-137.983,5.35,,
,,,,,,,,-124.469,5.4,,
,,,,,,,,-111.159,5.45,,
,,,,,,,,-98.1188,5.5,,
,,,,,,,,-85.4042,5.55,,
,,,,,,,,-73.0643,5.6,,
,,,,,,,,-61.1405,5.65,,
,,,,,,,,-49.6672,5.7,,
,,,,,,,,-38.6726,5.75,,
,,,,,,,,-28.1787,5.8,,
,,,,,,,,-18.202,5.85,,
,,,,,,,,-8.75416,5.9,,
,,,,,,,,0.157894,5.95,,
,,,,,,,,8.53139,6,,
,,,,,,,,16.3673,6.05,,
,,,,,,,,23.67,6.1,,
,,,,,,,,30.4468,6.15,,
,,,,,,,,36.7077,6.2,,
,,,,,,,,42.465,6.25,,
,,,,,,,,47.7331,6.3,,
,,,,,,,,52.5278,6.35,,
,,,,,,,,56.8666,6.4,,
,,,,,,,,60.7681,6.45,,
,,,,,,,,64.2518,6.5,,
,,,,,,,,67.3379,6.55,,
,,,,,,,,70.0471,6.6,,
,,,,,,,,72.4003,6.65,,
,,,,,,,,74.4188,6.7,,
,,,,,,,,76.1238,6.75,,
,,,,,,,,77.5362,6.8,,
,,,,,,,,78.6767,6.85,,
,,,,,,,,79.5659,6.9,,
,,,,,,,,80.2236,6.95,,
,,,,,,,,80.6691,7,,
,,,,,,,,80.9214,7.05,,
,,,,,,,,80.9984,7.1,,
,,,,,,,,80.9175,7.15,,
,,,,,,,,80.6954,7.2,,
,,,,,,,,80.3479,7.25,,
,,,,,,,,79.89,7.3,,
,,,,,,,,79.3359,7.35,,
,,,,,,,,78.699,7.4,,
,,,,,,,,77.9918,7.45,,
,,,,,,,,77.2259,7.5,,
,,,,,,,,76.4124,7.55,,
,,,,,,,,75.5612,7.6,,
,,,,,,,,74.6817,7.65,,
,,,,,,,,73.7824,7.7,,
,,,,,,,,72.8711,7.75,,
,,,,,,,,71.9547,7.8,,
,,,,,,,,71.0398,7.85,,
,,,,,,,,70.132,7.9,,
,,,,,,,,69.2363,7.95,,
,,,,,,,,68.3573,8,,
,,,,,,,,67.4989,8.05,,
,,,,,,,,66.6645,8.1,,
,,,,,,,,65.8569,8.15,,
,,,,,,,,65.0785,8.2,,
,,,,,,,,64.3314,8.25,,
,,,,,,,,63.6171,8.3,,
,,,,,,,,62.9368,8.35,,
,,,,,,,,62.2914,8.4,,
,,,,,,,,61.6814,8.45,,
,,,,,,,,61.107,8.5,,
,,,,,,,,60.5684,8.55,,
,,,,,,,,60.0651,8.6,,
,,,,,,,,59.5969,8.65,,
,,,,,,,,59.1631,8.7,,
,,,,,,,,58.7629,8.75,,
,,,,,,,,58.3955,8.8,,
,,,,,,,,58.0597,8.85,,
,,,,,,,,57.7545,8.9,,
,,,,,,,,57.4786,8.95,,
,,,,,,,,57.2308,9,,
,,,,,,,,57.0097,9.05,,
,,,,,,,,56.814,9.1,,
,,,,,,,,56.6423,9.15,,
,,,,,,,,56.4932,9.2,,
,,,,,,,,56.3653,9.25,,
,,,,,,,,56.2571,9.3,,
,,,,,,,,56.1674,9.35,,
,,,,,,,,56.0947,9.4,,
,,,,,,,,56.0378,9.45,,
,,,,,,,,55.9952,9.5,,
,,,,,,,,55.9659,9.55,,
,,,,,,,,55.9485,9.6,,
,,,,,,,,55.9418,9.65,,
,,,,,,,,55.9449,9.7,,
,,,,,,,,55.9565,9.75,,
,,,,,,,,55.9758,9.8,,
,,,,,,,,56.0017,9.85,,
,,,,,,,,56.0333,9.9,,
,,,,,,,,56.0698,9.95,,
,,,,,,,,56.1105,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,2,,,0,0.75
,,,,,,,,0,0,,
,,,,,,,,-48844.4,0.05,,
,,,,,,,,-48058,0.1,,
,,,,,,,,-45655.5,0.15,,
,,,,,,,,-43160.3,0.2,,
,,,,,,,,-40640.1,0.25,,
,,,,,,,,-38115,0.3,,
,,,,,,,,-35601.8,0.35,,
,,,,,,,,-33115.6,0.4,,
,,,,,,,,-30669.5,0.45,,
,,,,,,,,-28275.4,0.5,,
,,,,,,,,-25943.4,0.55,,
,,,,,,,,-23682.1,0.6,,
,,,,,,,,-21498.9,0.65,,
,,,,,,,,-19400,0.7,,
,,,,,,,,-17390.2,0.75,,
,,,,,,,,-15473.4,0.8,,
,,,,,,,,-13652.6,0.85,,
,,,,,,,,-11929.5,0.9,,
,,,,,,,,-10305.4,0.95,,
,,,,,,,,-8780.65,1,,
,,,,,,,,-7354.85,1.05,,
,,,,,,,,-6027.12,1.1,,
,,,,,,,,-4795.99,1.15,,
,,,,,,,,-3659.54,1.2,,
,,,,,,,,-2615.42,1.25,,
,,,,,,,,-1660.92,1.3,,
,,,,,,,,-793.03,1.35,,
,,,,,,,,-8.49811,1.4,,
,,,,,,,,696.14,1.45,,
,,,,,,,,1324.51,1.5,,
,,,,,,,,1880.36,1.55,,
,,,,,,,,2367.51,1.6,,
,,,,,,,,2789.86,1.65,,
,,,,,,,,3151.3,1.7,,
,,,,,,,,3455.73,1.75,,
,,,,,,,,3707.02,1.8,,
,,,,,,,,3908.99,1.85,,
,,,,,,,,4065.37,1.9,,
,,,,,,,,4179.82,1.95,,
,,,,,,,,4255.89,2,,
,,,,,,,,4297.03,2.05,,
,,,,,,,,4306.52,2.1,,
,,,,,,,,4287.56,2.15,,
,,,,,,,,4243.18,2.2,,
,,,,,,,,4176.26,2.25,,
,,,,,,,,4089.54,2.3,,
,,,,,,,,3985.61,2.35,,
,,,,,,,,3866.9,2.4,,
,,,,,,,,3735.69,2.45,,
,,,,,,,,3594.1,2.5,,
,,,,,,,,3444.11,2.55,,
,,,,,,,,3287.55,2.6,,
,,,,,,,,3126.1,2.65,,
,,,,,,,,2961.3,2.7,,
,,,,,,,,2794.57,2.75,,
,,,,,,,,2627.17,2.8,,
,,,,,,,,2460.26,2.85,,
,,,,,,,,2294.85,2.9,,
,,,,,,,,2131.88,2.95,,
,,,,,,,,1972.13,3,,
,,,,,,,,1816.32,3.05,,
,,,,,,,,1665.03,3.1,,
,,,,,,,,1518.8,3.15,,
,,,,,,,,1378.04,3.2,,
,,,,,,,,1243.11,3.25,,
,,,,,,,,1114.27,3.3,,
,,,,,,,,991.742,3.35,,
,,,,,,,,875.666,3.4,,
,,,,,,,,766.133,3.45,,
,,,,,,,,663.179,3.5,,
,,,,,,,,566.796,3.55,,
,,,,,,,,476.935,3.6,,
,,,,,,,,393.509,3.65,,
,,,,,,,,316.397,3.7,,
,,,,,,,,245.451,3.75,,
,,,,,,,,180.499,3.8,,
,,,,,,,,121.346,3.85,,
,,,,,,,,67.7816,3.9,,
,,,,,,,,19.5794,3.95,,
,,,,,,,,-23.498,4,,
,,,,,,,,-61.697,4.05,,
,,,,,,,,-95.2699,4.1,,
,,,,,,,,-124.473,4.15,,
,,,,,,,,-149.566,4.2,,
,,,,,,,,-170.807,4.25,,
,,,,,,,,-188.452,4.3,,
,,,,,,,,-202.756,4.35,,
,,,,,,,,-213.968,4.4,,
,,,,,,,,-222.333,4.45,,
,,,,,,,,-228.087,4.5,,
,,,,,,,,-231.461,4.55,,
,,,,,,,,-232.676,4.6,,
,,,,,,,,-231.946,4.65,,
,,,,,,,,-229.475,4.7,,
,,,,,,,,-225.456,4.75,,
,,,,,,,,-220.073,4.8,,
,,,,,,,,-213.502,4.85,,
,,,,,,,,-205.906,4.9,,
,,,,,,,,-197.44,4.95,,
,,,,,,,,-188.246,5,,
,,,,,,,,-178.459,5.05,,
,,,,,,,,-168.203,5.1,,
,,,,,,,,-157.592,5.15,,
,,,,,,,,-146.731,5.2,,
,,,,,,,,-135.715,5.25,,
,,,,,,,,-124.632,5.3,,
,,,,,,,,-113.561,5.35,,
,,,,,,,,-102.57,5.4,,
,,,,,,,,-91.7244,5.45,,
,,,,,,,,-81.0779,5.5,,
,,,,,,,,-70.6794,5.55,,
,,,,,,,,-60.5706,5.6,,
,,,,,,,,-50.7872,5.65,,
,,,,,,,,-41.3591,5.7,,
,,,,,,,,-32.3109,5.75,,
,,,,,,,,-23.6623,5.8,,
,,,,,,,,-15.4281,5.85,,
,,,,,,,,-7.61931,5.9,,
,,,,,,,,-0.242767,5.95,,
,,,,,,,,6.69805,6,,
,,,,,,,,13.2029,6.05,,
,,,,,,,,19.2742,6.1,,
,,,,,,,,24.9173,6.15,,
,,,,,,,,30.1393,6.2,,
,,,,,,,,34.9496,6.25,,
,,,,,,,,39.3592,6.3,,
,,,,,,,,43.3807,6.35,,
,,,,,,,,47.0276,6.4,,
,,,,,,,,50.3148,6.45,,
,,,,,,,,53.2577,6.5,,
,,,,,,,,55.8726,6.55,,
,,,,,,,,58.176,6.6,,
,,,,,,,,60.185,6.65,,
,,,,,,,,61.9166,6.7,,
,,,,,,,,63.3879,6.75,,
,,,,,,,,64.6161,6.8,,
,,,,,,,,65.6181,6.85,,
,,,,,,,,66.4104,6.9,,
,,,,,,,,67.0094,6.95,,
,,,,,,,,67.431,7,,
,,,,,,,,67.6905,7.05,,
,,,,,,,,67.8027,7.1,,
,,,,,,,,67.7821,7.15,,
,,,,,,,,67.6422,7.2,,
,,,,,,,,67.3961,7.25,,
,,,,,,,,67.0563,7.3,,
,,,,,,,,66.6344,7.35,,
,,,,,,,,66.1415,7.4,,
,,,,,,,,65.5881,7.45,,
,,,,,,,,64.9839,7.5,,
,,,,,,,,64.3378,7.55,,
,,,,,,,,63.6584,7.6,,
,,,,,,,,62.9533,7.65,,
,,,,,,,,62.2298,7.7,,
,,,,,,,,61.4942,7.75,,
,,,,,,,,60.7526,7.8,,
,,,,,,,,60.0103,7.85,,
,,,,,,,,59.2722,7.9,,
,,,,,,,,58.5424,7.95,,
,,,,,,,,57.8249,8,,
,,,,,,,,57.123,8.05,,
,,,,,,,,56.4395,8.1,,
,,,,,,,,55.7769,8.15,,
,,,,,,,,55.1373,8.2,,
,,,,,,,,54.5225,8.25,,
,,,,,,,,53.9339,8.3,,
,,,,,,,,53.3724,8.35,,
,,,,,,,,52.839,8.4,,
,,,,,,,,52.3341,8.45,,
,,,,,,,,51.8581,8.5,,
,,,,,,,,51.4109,8.55,,
,,,,,,,,50.9926,8.6,,
,,,,,,,,50.6028,8.65,,
,,,,,,,,50.241,8.7,,
,,,,,,,,49.9067,8.75,,
,,,,,,,,49.5992,8.8,,
,,,,,,,,49.3177,8.85,,
,,,,,,,,49.0612,8.9,,
,,,,,,,,48.8289,8.95,,
,,,,,,,,48.6197,9,,
,,,,,,,,48.4326,9.05,,
,,,,,,,,48.2664,9.1,,
,,,,,,,,48.12,9.15,,
,,,,,,,,47.9924,9.2,,
,,,,,,,,47.8824,9.25,,
,,,,,,,,47.7887,9.3,,
,,,,,,,,47.7104,9.35,,
,,,,,,,,47.6463,9.4,,
,,,,,,,,47.5954,9.45,,
,,,,,,,,47.5565,9.5,,
,,,,,,,,47.5286,9.55,,
,,,,,,,,47.5107,9.6,,
,,,,,,,,47.502,9.65,,
,,,,,,,,47.5014,9.7,,
,,,,,,,,47.5081,9.75,,
,,,,,,,,47.5212,9.8,,
,,,,,,,,47.54,9.85,,
,,,,,,,,47.5636,9.9,,
,,,,,,,,47.5915,9.95,,
,,,,,,,,47.623,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,1.5,,,0,0.75
,,,,,,,,0,0,,
,,,,,,,,-38409.7,0.05,,
,,,,,,,,-37872.3,0.1,,
,,,,,,,,-36057.8,0.15,,
,,,,,,,,-34161.9,0.2,,
,,,,,,,,-32238,0.25,,
,,,,,,,,-30302.5,0.3,,
,,,,,,,,-28369.1,0.35,,
,,,,,,,,-26450.1,0.4,,
,,,,,,,,-24556.3,0.45,,
,,,,,,,,-22697.5,0.5,,
,,,,,,,,-20882.1,0.55,,
,,,,,,,,-19117.3,0.6,,
,,,,,,,,-17409.4,0.65,,
,,,,,,,,-15763.5,0.7,,
,,,,,,,,-14184,0.75,,
,,,,,,,,-12674.3,0.8,,
,,,,,,,,-11236.9,0.85,,
,,,,,,,,-9873.75,0.9,,
,,,,,,,,-8586.07,0.95,,
,,,,,,,,-7374.43,1,,
,,,,,,,,-6238.87,1.05,,
,,,,,,,,-5178.96,1.1,,
,,,,,,,,-4193.78,1.15,,
,,,,,,,,-3282.07,1.2,,
,,,,,,,,-2442.17,1.25,,
,,,,,,,,-1672.18,1.3,,
,,,,,,,,-969.911,1.35,,
,,,,,,,,-332.967,1.4,,
,,,,,,,,241.221,1.45,,
,,,,,,,,755.367,1.5,,
,,,,,,,,1212.29,1.55,,
,,,,,,,,1614.91,1.6,,
,,,,,,,,1966.16,1.65,,
,,,,,,,,2269.05,1.7,,
,,,,,,,,2526.55,1.75,,
,,,,,,,,2741.66,1.8,,
,,,,,,,,2917.33,1.85,,
,,,,,,,,3056.44,1.9,,
,,,,,,,,3161.85,1.95,,
,,,,,,,,3236.32,2,,
,,,,,,,,3282.54,2.05,,
,,,,,,,,3303.1,2.1,,
,,,,,,,,3300.49,2.15,,
,,,,,,,,3277.1,2.2,,
,,,,,,,,3235.21,2.25,,
,,,,,,,,3176.97,2.3,,
,,,,,,,,3104.44,2.35,,
,,,,,,,,3019.56,2.4,,
,,,,,,,,2924.12,2.45,,
,,,,,,,,2819.83,2.5,,
,,,,,,,,2708.27,2.55,,
,,,,,,,,2590.89,2.6,,
,,,,,,,,2469.06,2.65,,
,,,,,,,,2344.02,2.7,,
,,,,,,,,2216.9,2.75,,
,,,,,,,,2088.73,2.8,,
,,,,,,,,1960.45,2.85,,
,,,,,,,,1832.9,2.9,,
,,,,,,,,1706.83,2.95,,
,,,,,,,,1582.9,3,,
,,,,,,,,1461.69,3.05,,
,,,,,,,,1343.71,3.1,,
,,,,,,,,1229.39,3.15,,
,,,,,,,,1119.09,3.2,,
,,,,,,,,1013.11,3.25,,
,,,,,,,,911.691,3.3,,
,,,,,,,,815.028,3.35,,
,,,,,,,,723.255,3.4,,
,,,,,,,,636.464,3.45,,
,,,,,,,,554.706,3.5,,
,,,,,,,,477.995,3.55,,
,,,,,,,,406.308,3.6,,
,,,,,,,,339.594,3.65,,
,,,,,,,,277.776,3.7,,
,,,,,,,,220.752,3.75,,
,,,,,,,,168.399,3.8,,
,,,,,,,,120.578,3.85,,
,,,,,,,,77.1327,3.9,,
,,,,,,,,37.897,3.95,,
,,,,,,,,2.69318,4,,
,,,,,,,,-28.664,4.05,,
,,,,,,,,-56.3657,4.1,,
,,,,,,,,-80.6071,4.15,,
,,,,,,,,-101.586,4.2,,
,,,,,,,,-119.5,4.25,,
,,,,,,,,-134.548,4.3,,
,,,,,,,,-146.926,4.35,,
,,,,,,,,-156.826,4.4,,
,,,,,,,,-164.439,4.45,,
,,,,,,,,-169.95,4.5,,
,,,,,,,,-173.538,4.55,,
,,,,,,,,-175.377,4.6,,
,,,,,,,,-175.633,4.65,,
,,,,,,,,-174.467,4.7,,
,,,,,,,,-172.033,4.75,,
,,,,,,,,-168.475,4.8,,
,,,,,,,,-163.932,4.85,,
,,,,,,,,-158.534,4.9,,
,,,,,,,,-152.403,4.95,,
,,,,,,,,-145.654,5,,
,,,,,,,,-138.394,5.05,,
,,,,,,,,-130.722,5.1,,
,,,,,,,,-122.729,5.15,,
,,,,,,,,-114.501,5.2,,
,,,,,,,,-106.113,5.25,,
,,,,,,,,-97.6381,5.3,,
,,,,,,,,-89.1384,5.35,,
,,,,,,,,-80.6718,5.4,,
,,,,,,,,-72.2895,5.45,,
,,,,,,,,-64.0371,5.5,,
,,,,,,,,-55.9546,5.55,,
,,,,,,,,-48.0769,5.6,,
,,,,,,,,-40.4339,5.65,,
,,,,,,,,-33.051,5.7,,
,,,,,,,,-25.9493,5.75,,
,,,,,,,,-19.1459,5.8,,
,,,,,,,,-12.6543,5.85,,
,,,,,,,,-6.48446,5.9,,
,,,,,,,,-0.643428,5.95,,
,,,,,,,,4.86472,6,,
,,,,,,,,10.0384,6.05,,
,,,,,,,,14.8785,6.1,,
,,,,,,,,19.3877,6.15,,
,,,,,,,,23.5709,6.2,,
,,,,,,,,27.4342,6.25,,
,,,,,,,,30.9854,6.3,,
,,,,,,,,34.2336,6.35,,
,,,,,,,,37.1886,6.4,,
,,,,,,,,39.8615,6.45,,
,,,,,,,,42.2636,6.5,,
,,,,,,,,44.4073,6.55,,
,,,,,,,,46.305,6.6,,
,,,,,,,,47.9696,6.65,,
,,,,,,,,49.4143,6.7,,
,,,,,,,,50.652,6.75,,
,,,,,,,,51.6961,6.8,,
,,,,,,,,52.5594,6.85,,
,,,,,,,,53.255,6.9,,
,,,,,,,,53.7953,6.95,,
,,,,,,,,54.1929,7,,
,,,,,,,,54.4596,7.05,,
,,,,,,,,54.6071,7.1,,
,,,,,,,,54.6467,7.15,,
,,,,,,,,54.589,7.2,,
,,,,,,,,54.4443,7.25,,
,,,,,,,,54.2225,7.3,,
,,,,,,,,53.9328,7.35,,
,,,,,,,,53.5841,7.4,,
,,,,,,,,53.1845,7.45,,
,,,,,,,,52.7418,7.5,,
,,,,,,,,52.2632,7.55,,
,,,,,,,,51.7555,7.6,,
,,,,,,,,51.2249,7.65,,
,,,,,,,,50.6771,7.7,,
,,,,,,,,50.1174,7.75,,
,,,,,,,,49.5505,7.8,,
,,,,,,,,48.9809,7.85,,
,,,,,,,,48.4124,7.9,,
,,,,,,,,47.8486,7.95,,
,,,,,,,,47.2925,8,,
,,,,,,,,46.747,8.05,,
,,,,,,,,46.2144,8.1,,
,,,,,,,,45.6969,8.15,,
,,,,,,,,45.1961,8.2,,
,,,,,,,,44.7136,8.25,,
,,,,,,,,44.2506,8.3,,
,,,,,,,,43.808,8.35,,
,,,,,,,,43.3866,8.4,,
,,,,,,,,42.9868,8.45,,
,,,,,,,,42.6091,8.5,,
,,,,,,,,42.2535,8.55,,
,,,,,,,,41.9201,8.6,,
,,,,,,,,41.6086,8.65,,
,,,,,,,,41.3189,8.7,,
,,,,,,,,41.0505,8.75,,
,,,,,,,,40.8029,8.8,,
,,,,,,,,40.5757,8.85,,
,,,,,,,,40.368,8.9,,
,,,,,,,,40.1792,8.95,,
,,,,,,,,40.0086,9,,
,,,,,,,,39.8554,9.05,,
,,,,,,,,39.7188,9.1,,
,,,,,,,,39.5978,9.15,,
,,,,,,,,39.4916,9.2,,
,,,,,,,,39.3994,9.25,,
,,,,,,,,39.3203,9.3,,
,,,,,,,,39.2535,9.35,,
,,,,,,,,39.198,9.4,,
,,,,,,,,39.153,9.45,,
,,,,,,,,39.1177,9.5,,
,,,,,,,,39.0913,9.55,,
,,,,,,,,39.073,9.6,,
,,,,,,,,39.0621,9.65,,
,,,,,,,,39.0579,9.7,,
,,,,,,,,39.0596,9.75,,
,,,,,,,,39.0666,9.8,,
,,,,,,,,39.0782,9.85,,
,,,,,,,,39.094,9.9,,
,,,,,,,,39.1133,9.95,,
,,,,,,,,39.1355,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,1,,,0,0.75
,,,,,,,,0,0,,
,,,,,,,,-27975.1,0.05,,
,,,,,,,,-27686.7,0.1,,
,,,,,,,,-26460.2,0.15,,
,,,,,,,,-25163.4,0.2,,
,,,,,,,,-23835.8,0.25,,
,,,,,,,,-22490,0.3,,
,,,,,,,,-21136.4,0.35,,
,,,,,,,,-19784.6,0.4,,
,,,,,,,,-18443.2,0.45,,
,,,,,,,,-17119.7,0.5,,
,,,,,,,,-15820.9,0.55,,
,,,,,,,,-14552.6,0.6,,
,,,,,,,,-13319.9,0.65,,
,,,,,,,,-12127.1,0.7,,
,,,,,,,,-10977.9,0.75,,
,,,,,,,,-9875.1,0.8,,
,,,,,,,,-8821.2,0.85,,
,,,,,,,,-7817.97,0.9,,
,,,,,,,,-6866.69,0.95,,
,,,,,,,,-5968.21,1,,
,,,,,,,,-5122.9,1.05,,
,,,,,,,,-4330.8,1.1,,
,,,,,,,,-3591.58,1.15,,
,,,,,,,,-2904.59,1.2,,
,,,,,,,,-2268.92,1.25,,
,,,,,,,,-1683.44,1.3,,
,,,,,,,,-1146.79,1.35,,
,,,,,,,,-657.437,1.4,,
,,,,,,,,-213.698,1.45,,
,,,,,,,,186.225,1.5,,
,,,,,,,,544.233,1.55,,
,,,,,,,,862.304,1.6,,
,,,,,,,,1142.47,1.65,,
,,,,,,,,1386.8,1.7,,
,,,,,,,,1597.38,1.75,,
,,,,,,,,1776.31,1.8,,
,,,,,,,,1925.67,1.85,,
,,,,,,,,2047.52,1.9,,
,,,,,,,,2143.88,1.95,,
,,,,,,,,2216.75,2,,
,,,,,,,,2268.06,2.05,,
,,,,,,,,2299.68,2.1,,
,,,,,,,,2313.42,2.15,,
,,,,,,,,2311.02,2.2,,
,,,,,,,,2294.15,2.25,,
,,,,,,,,2264.4,2.3,,
,,,,,,,,2223.28,2.35,,
,,,,,,,,2172.21,2.4,,
,,,,,,,,2112.55,2.45,,
,,,,,,,,2045.56,2.5,,
,,,,,,,,1972.43,2.55,,
,,,,,,,,1894.24,2.6,,
,,,,,,,,1812.03,2.65,,
,,,,,,,,1726.73,2.7,,
,,,,,,,,1639.22,2.75,,
,,,,,,,,1550.29,2.8,,
,,,,,,,,1460.64,2.85,,
,,,,,,,,1370.95,2.9,,
,,,,,,,,1281.78,2.95,,
,,,,,,,,1193.67,3,,
,,,,,,,,1107.07,3.05,,
,,,,,,,,1022.39,3.1,,
,,,,,,,,939.976,3.15,,
,,,,,,,,860.13,3.2,,
,,,,,,,,783.106,3.25,,
,,,,,,,,709.111,3.3,,
,,,,,,,,638.313,3.35,,
,,,,,,,,570.843,3.4,,
,,,,,,,,506.795,3.45,,
,,,,,,,,446.234,3.5,,
,,,,,,,,389.193,3.55,,
,,,,,,,,335.68,3.6,,
,,,,,,,,285.68,3.65,,
,,,,,,,,239.156,3.7,,
,,,,,,,,196.053,3.75,,
,,,,,,,,156.299,3.8,,
,,,,,,,,119.809,3.85,,
,,,,,,,,86.4837,3.9,,
,,,,,,,,56.2146,3.95,,
,,,,,,,,28.8844,4,,
,,,,,,,,4.36893,4.05,,
,,,,,,,,-17.4615,4.1,,
,,,,,,,,-36.7408,4.15,,
,,,,,,,,-53.6055,4.2,,
,,,,,,,,-68.1937,4.25,,
,,,,,,,,-80.6442,4.3,,
,,,,,,,,-91.0954,4.35,,
,,,,,,,,-99.6843,4.4,,
,,,,,,,,-106.546,4.45,,
,,,,,,,,-111.813,4.5,,
,,,,,,,,-115.615,4.55,,
,,,,,,,,-118.077,4.6,,
,,,,,,,,-119.319,4.65,,
,,,,,,,,-119.46,4.7,,
,,,,,,,,-118.61,4.75,,
,,,,,,,,-116.877,4.8,,
,,,,,,,,-114.363,4.85,,
,,,,,,,,-111.162,4.9,,
,,,,,,,,-107.367,4.95,,
,,,,,,,,-103.063,5,,
,,,,,,,,-98.3292,5.05,,
,,,,,,,,-93.2407,5.1,,
,,,,,,,,-87.8665,5.15,,
,,,,,,,,-82.2705,5.2,,
,,,,,,,,-76.5118,5.25,,
,,,,,,,,-70.644,5.3,,
,,,,,,,,-64.7163,5.35,,
,,,,,,,,-58.7732,5.4,,
,,,,,,,,-52.8546,5.45,,
,,,,,,,,-46.9962,5.5,,
,,,,,,,,-41.2298,5.55,,
,,,,,,,,-35.5832,5.6,,
,,,,,,,,-30.0806,5.65,,
,,,,,,,,-24.7428,5.7,,
,,,,,,,,-19.5876,5.75,,
,,,,,,,,-14.6295,5.8,,
,,,,,,,,-9.88039,5.85,,
,,,,,,,,-5.34961,5.9,,
,,,,,,,,-1.04409,5.95,,
,,,,,,,,3.03138,6,,
,,,,,,,,6.87399,6.05,,
,,,,,,,,10.4827,6.1,,
,,,,,,,,13.8582,6.15,,
,,,,,,,,17.0024,6.2,,
,,,,,,,,19.9187,6.25,,
,,,,,,,,22.6116,6.3,,
,,,,,,,,25.0865,6.35,,
,,,,,,,,27.3497,6.4,,
,,,,,,,,29.4081,6.45,,
,,,,,,,,31.2695,6.5,,
,,,,,,,,32.942,6.55,,
,,,,,,,,34.434,6.6,,
,,,,,,,,35.7543,6.65,,
,,,,,,,,36.912,6.7,,
,,,,,,,,37.9162,6.75,,
,,,,,,,,38.7761,6.8,,
,,,,,,,,39.5008,6.85,,
,,,,,,,,40.0995,6.9,,
,,,,,,,,40.5812,6.95,,
,,,,,,,,40.9547,7,,
,,,,,,,,41.2287,7.05,,
,,,,,,,,41.4115,7.1,,
,,,,,,,,41.5112,7.15,,
,,,,,,,,41.5357,7.2,,
,,,,,,,,41.4925,7.25,,
,,,,,,,,41.3888,7.3,,
,,,,,,,,41.2313,7.35,,
,,,,,,,,41.0266,7.4,,
,,,,,,,,40.7808,7.45,,
,,,,,,,,40.4997,7.5,,
,,,,,,,,40.1886,7.55,,
,,,,,,,,39.8527,7.6,,
,,,,,,,,39.4965,7.65,,
,,,,,,,,39.1245,7.7,,
,,,,,,,,38.7406,7.75,,
,,,,,,,,38.3484,7.8,,
,,,,,,,,37.9514,7.85,,
,,,,,,,,37.5526,7.9,,
,,,,,,,,37.1547,7.95,,
,,,,,,,,36.7601,8,,
,,,,,,,,36.371,8.05,,
,,,,,,,,35.9894,8.1,,
,,,,,,,,35.6169,8.15,,
,,,,,,,,35.2549,8.2,,
,,,,,,,,34.9047,8.25,,
,,,,,,,,34.5673,8.3,,
,,,,,,,,34.2436,8.35,,
,,,,,,,,33.9342,8.4,,
,,,,,,,,33.6396,8.45,,
,,,,,,,,33.3601,8.5,,
,,,,,,,,33.0961,8.55,,
,,,,,,,,32.8475,8.6,,
,,,,,,,,32.6145,8.65,,
,,,,,,,,32.3968,8.7,,
,,,,,,,,32.1943,8.75,,
,,,,,,,,32.0067,8.8,,
,,,,,,,,31.8336,8.85,,
,,,,,,,,31.6747,8.9,,
,,,,,,,,31.5296,8.95,,
,,,,,,,,31.3976,9,,
,,,,,,,,31.2783,9.05,,
,,,,,,,,31.1711,9.1,,
,,,,,,,,31.0755,9.15,,
,,,,,,,,30.9908,9.2,,
,,,,,,,,30.9165,9.25,,
,,,,,,,,30.8519,9.3,,
,,,,,,,,30.7965,9.35,,
,,,,,,,,30.7496,9.4,,
,,,,,,,,30.7106,9.45,,
,,,,,,,,30.6789,9.5,,
,,,,,,,,30.654,9.55,,
,,,,,,,,30.6353,9.6,,
,,,,,,,,30.6223,9.65,,
,,,,,,,,30.6144,9.7,,
,,,,,,,,30.6111,9.75,,
,,,,,,,,30.612,9.8,,
,,,,,,,,30.6165,9.85,,
,,,,,,,,30.6243,9.9,,
,,,,,,,,30.635,9.95,,
,,,,,,,,30.6481,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,0.5,,,0,0.75
,,,,,,,,0,0,,
,,,,,,,,-17540.5,0.05,,
,,,,,,,,-17501.1,0.1,,
,,,,,,,,-16862.5,0.15,,
,,,,,,,,-16164.9,0.2,,
,,,,,,,,-15433.7,0.25,,
,,,,,,,,-14677.4,0.3,,
,,,,,,,,-13903.6,0.35,,
,,,,,,,,-13119.1,0.4,,
,,,,,,,,-12330,0.45,,
,,,,,,,,-11541.8,0.5,,
,,,,,,,,-10759.6,0.55,,
,,,,,,,,-9987.85,0.6,,
,,,,,,,,-9230.39,0.65,,
,,,,,,,,-8490.69,0.7,,
,,,,,,,,-7771.69,0.75,,
,,,,,,,,-7075.93,0.8,,
,,,,,,,,-6405.51,0.85,,
,,,,,,,,-5762.18,0.9,,
,,,,,,,,-5147.32,0.95,,
,,,,,,,,-4561.98,1,,
,,,,,,,,-4006.93,1.05,,
,,,,,,,,-3482.65,1.1,,
,,,,,,,,-2989.37,1.15,,
,,,,,,,,-2527.11,1.2,,
,,,,,,,,-2095.68,1.25,,
,,,,,,,,-1694.71,1.3,,
,,,,,,,,-1323.67,1.35,,
,,,,,,,,-981.906,1.4,,
,,,,,,,,-668.618,1.45,,
,,,,,,,,-382.918,1.5,,
,,,,,,,,-123.828,1.55,,
,,,,,,,,109.701,1.6,,
,,,,,,,,318.777,1.65,,
,,,,,,,,504.551,1.7,,
,,,,,,,,668.209,1.75,,
,,,,,,,,810.955,1.8,,
,,,,,,,,934.009,1.85,,
,,,,,,,,1038.59,1.9,,
,,,,,,,,1125.91,1.95,,
,,,,,,,,1197.18,2,,
,,,,,,,,1253.57,2.05,,
,,,,,,,,1296.25,2.1,,
,,,,,,,,1326.34,2.15,,
,,,,,,,,1344.94,2.2,,
,,,,,,,,1353.09,2.25,,
,,,,,,,,1351.83,2.3,,
,,,,,,,,1342.11,2.35,,
,,,,,,,,1324.87,2.4,,
,,,,,,,,1300.99,2.45,,
,,,,,,,,1271.3,2.5,,
,,,,,,,,1236.58,2.55,,
,,,,,,,,1197.59,2.6,,
,,,,,,,,1154.99,2.65,,
,,,,,,,,1109.45,2.7,,
,,,,,,,,1061.55,2.75,,
,,,,,,,,1011.84,2.8,,
,,,,,,,,960.839,2.85,,
,,,,,,,,908.997,2.9,,
,,,,,,,,856.737,2.95,,
,,,,,,,,804.441,3,,
,,,,,,,,752.45,3.05,,
,,,,,,,,701.068,3.1,,
,,,,,,,,650.564,3.15,,
,,,,,,,,601.175,3.2,,
,,,,,,,,553.105,3.25,,
,,,,,,,,506.531,3.3,,
,,,,,,,,461.599,3.35,,
,,,,,,,,418.431,3.4,,
,,,,,,,,377.127,3.45,,
,,,,,,,,337.761,3.5,,
,,,,,,,,300.391,3.55,,
,,,,,,,,265.052,3.6,,
,,,,,,,,231.765,3.65,,
,,,,,,,,200.535,3.7,,
,,,,,,,,171.354,3.75,,
,,,,,,,,144.2,3.8,,
,,,,,,,,119.041,3.85,,
,,,,,,,,95.8348,3.9,,
,,,,,,,,74.5322,3.95,,
,,,,,,,,55.0756,4,,
,,,,,,,,37.4019,4.05,,
,,,,,,,,21.4426,4.1,,
,,,,,,,,7.12549,4.15,,
,,,,,,,,-5.62514,4.2,,
,,,,,,,,-16.8872,4.25,,
,,,,,,,,-26.7404,4.3,,
,,,,,,,,-35.2651,4.35,,
,,,,,,,,-42.5424,4.4,,
,,,,,,,,-48.6529,4.45,,
,,,,,,,,-53.6764,4.5,,
,,,,,,,,-57.692,4.55,,
,,,,,,,,-60.7766,4.6,,
,,,,,,,,-63.0058,4.65,,
,,,,,,,,-64.4526,4.7,,
,,,,,,,,-65.1878,4.75,,
,,,,,,,,-65.2794,4.8,,
,,,,,,,,-64.7928,4.85,,
,,,,,,,,-63.7903,4.9,,
,,,,,,,,-62.3311,4.95,,
,,,,,,,,-60.4715,5,,
,,,,,,,,-58.2643,5.05,,
,,,,,,,,-55.7595,5.1,,
,,,,,,,,-53.0038,5.15,,
,,,,,,,,-50.0405,5.2,,
,,,,,,,,-46.91,5.25,,
,,,,,,,,-43.6499,5.3,,
,,,,,,,,-40.2942,5.35,,
,,,,,,,,-36.8746,5.4,,
,,,,,,,,-33.4197,5.45,,
,,,,,,,,-29.9553,5.5,,
,,,,,,,,-26.505,5.55,,
,,,,,,,,-23.0895,5.6,,
,,,,,,,,-19.7273,5.65,,
,,,,,,,,-16.4347,5.7,,
,,,,,,,,-13.2259,5.75,,
,,,,,,,,-10.1131,5.8,,
,,,,,,,,-7.10652,5.85,,
,,,,,,,,-4.21475,5.9,,
,,,,,,,,-1.44475,5.95,,
,,,,,,,,1.19804,6,,
,,,,,,,,3.70956,6.05,,
,,,,,,,,6.08698,6.1,,
,,,,,,,,8.32867,6.15,,
,,,,,,,,10.434,6.2,,
,,,,,,,,12.4033,6.25,,
,,,,,,,,14.2378,6.3,,
,,,,,,,,15.9394,6.35,,
,,,,,,,,17.5107,6.4,,
,,,,,,,,18.9548,6.45,,
,,,,,,,,20.2754,6.5,,
,,,,,,,,21.4766,6.55,,
,,,,,,,,22.5629,6.6,,
,,,,,,,,23.539,6.65,,
,,,,,,,,24.4097,6.7,,
,,,,,,,,25.1803,6.75,,
,,,,,,,,25.856,6.8,,
,,,,,,,,26.4421,6.85,,
,,,,,,,,26.9441,6.9,,
,,,,,,,,27.3671,6.95,,
,,,,,,,,27.7166,7,,
,,,,,,,,27.9978,7.05,,
,,,,,,,,28.2159,7.1,,
,,,,,,,,28.3758,7.15,,
,,,,,,,,28.4825,7.2,,
,,,,,,,,28.5407,7.25,,
,,,,,,,,28.555,7.3,,
,,,,,,,,28.5298,7.35,,
,,,,,,,,28.4692,7.4,,
,,,,,,,,28.3772,7.45,,
,,,,,,,,28.2576,7.5,,
,,,,,,,,28.1141,7.55,,
,,,,,,,,27.9498,7.6,,
,,,,,,,,27.7681,7.65,,
,,,,,,,,27.5718,7.7,,
,,,,,,,,27.3637,7.75,,
,,,,,,,,27.1463,7.8,,
,,,,,,,,26.922,7.85,,
,,,,,,,,26.6928,7.9,,
,,,,,,,,26.4608,7.95,,
,,,,,,,,26.2277,8,,
,,,,,,,,25.995,8.05,,
,,,,,,,,25.7643,8.1,,
,,,,,,,,25.5368,8.15,,
,,,,,,,,25.3137,8.2,,
,,,,,,,,25.0958,8.25,,
,,,,,,,,24.884,8.3,,
,,,,,,,,24.6792,8.35,,
,,,,,,,,24.4818,8.4,,
,,,,,,,,24.2923,8.45,,
,,,,,,,,24.1112,8.5,,
,,,,,,,,23.9387,8.55,,
,,,,,,,,23.775,8.6,,
,,,,,,,,23.6203,8.65,,
,,,,,,,,23.4747,8.7,,
,,,,,,,,23.3381,8.75,,
,,,,,,,,23.2104,8.8,,
,,,,,,,,23.0916,8.85,,
,,,,,,,,22.9815,8.9,,
,,,,,,,,22.8799,8.95,,
,,,,,,,,22.7865,9,,
,,,,,,,,22.7012,9.05,,
,,,,,,,,22.6235,9.1,,
,,,,,,,,22.5532,9.15,,
,,,,,,,,22.49,9.2,,
,,,,,,,,22.4336,9.25,,
,,,,,,,,22.3835,9.3,,
,,,,,,,,22.3395,9.35,,
,,,,,,,,22.3012,9.4,,
,,,,,,,,22.2682,9.45,,
,,,,,,,,22.2401,9.5,,
,,,,,,,,22.2167,9.55,,
,,,,,,,,22.1976,9.6,,
,,,,,,,,22.1824,9.65,,
,,,,,,,,22.1709,9.7,,
,,,,,,,,22.1626,9.75,,
,,,,,,,,22.1573,9.8,,
,,,,,,,,22.1548,9.85,,
,,,,,,,,22.1547,9.9,,
,,,,,,,,22.1567,9.95,,
,,,,,,,,22.1606,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,3,,,0,0.5
,,,,,,,,0,0,,
,,,,,,,,-67345,0.05,,
,,,,,,,,-65990.6,0.1,,
,,,,,,,,-62429.1,0.15,,
,,,,,,,,-58768.4,0.2,,
,,,,,,,,-55100.5,0.25,,
,,,,,,,,-51451.6,0.3,,
,,,,,,,,-47843.4,0.35,,
,,,,,,,,-44295,0.4,,
,,,,,,,,-40823.3,0.45,,
,,,,,,,,-37442.8,0.5,,
,,,,,,,,-34166,0.55,,
,,,,,,,,-31003.4,0.6,,
,,,,,,,,-27963.8,0.65,,
,,,,,,,,-25054.2,0.7,,
,,,,,,,,-22280.2,0.75,,
,,,,,,,,-19645.7,0.8,,
,,,,,,,,-17153.5,0.85,,
,,,,,,,,-14805.1,0.9,,
,,,,,,,,-12600.9,0.95,,
,,,,,,,,-10540.6,1,,
,,,,,,,,-8622.51,1.05,,
,,,,,,,,-6844.63,1.1,,
,,,,,,,,-5204.04,1.15,,
,,,,,,,,-3697.3,1.2,,
,,,,,,,,-2320.43,1.25,,
,,,,,,,,-1069.05,1.3,,
,,,,,,,,61.6126,1.35,,
,,,,,,,,1076.6,1.4,,
,,,,,,,,1981.2,1.45,,
,,,,,,,,2780.86,1.5,,
,,,,,,,,3481.16,1.55,,
,,,,,,,,4087.74,1.6,,
,,,,,,,,4606.27,1.65,,
,,,,,,,,5042.42,1.7,,
,,,,,,,,5401.79,1.75,,
,,,,,,,,5689.93,1.8,,
,,,,,,,,5912.25,1.85,,
,,,,,,,,6074.06,1.9,,
,,,,,,,,6180.51,1.95,,
,,,,,,,,6236.57,2,,
,,,,,,,,6247.03,2.05,,
,,,,,,,,6216.49,2.1,,
,,,,,,,,6149.35,2.15,,
,,,,,,,,6049.78,2.2,,
,,,,,,,,5921.75,2.25,,
,,,,,,,,5768.99,2.3,,
,,,,,,,,5595.01,2.35,,
,,,,,,,,5403.13,2.4,,
,,,,,,,,5196.39,2.45,,
,,,,,,,,4977.66,2.5,,
,,,,,,,,4749.59,2.55,,
,,,,,,,,4514.59,2.6,,
,,,,,,,,4274.89,2.65,,
,,,,,,,,4032.52,2.7,,
,,,,,,,,3789.32,2.75,,
,,,,,,,,3546.95,2.8,,
,,,,,,,,3306.88,2.85,,
,,,,,,,,3070.43,2.9,,
,,,,,,,,2838.76,2.95,,
,,,,,,,,2612.87,3,,
,,,,,,,,2393.63,3.05,,
,,,,,,,,2181.78,3.1,,
,,,,,,,,1977.92,3.15,,
,,,,,,,,1782.56,3.2,,
,,,,,,,,1596.08,3.25,,
,,,,,,,,1418.79,3.3,,
,,,,,,,,1250.88,3.35,,
,,,,,,,,1092.49,3.4,,
,,,,,,,,943.652,3.45,,
,,,,,,,,804.362,3.5,,
,,,,,,,,674.537,3.55,,
,,,,,,,,554.048,3.6,,
,,,,,,,,442.718,3.65,,
,,,,,,,,340.329,3.7,,
,,,,,,,,246.626,3.75,,
,,,,,,,,161.326,3.8,,
,,,,,,,,84.1199,3.85,,
,,,,,,,,14.678,3.9,,
,,,,,,,,-47.3457,3.95,,
,,,,,,,,-102.31,4,,
,,,,,,,,-150.582,4.05,,
,,,,,,,,-192.535,4.1,,
,,,,,,,,-228.545,4.15,,
,,,,,,,,-258.987,4.2,,
,,,,,,,,-284.234,4.25,,
,,,,,,,,-304.656,4.3,,
,,,,,,,,-320.614,4.35,,
,,,,,,,,-332.461,4.4,,
,,,,,,,,-340.542,4.45,,
,,,,,,,,-345.19,4.5,,
,,,,,,,,-346.727,4.55,,
,,,,,,,,-345.46,4.6,,
,,,,,,,,-341.685,4.65,,
,,,,,,,,-335.683,4.7,,
,,,,,,,,-327.721,4.75,,
,,,,,,,,-318.051,4.8,,
,,,,,,,,-306.909,4.85,,
,,,,,,,,-294.519,4.9,,
,,,,,,,,-281.089,4.95,,
,,,,,,,,-266.811,5,,
,,,,,,,,-251.864,5.05,,
,,,,,,,,-236.414,5.1,,
,,,,,,,,-220.612,5.15,,
,,,,,,,,-204.595,5.2,,
,,,,,,,,-188.49,5.25,,
,,,,,,,,-172.41,5.3,,
,,,,,,,,-156.455,5.35,,
,,,,,,,,-140.716,5.4,,
,,,,,,,,-125.273,5.45,,
,,,,,,,,-110.196,5.5,,
,,,,,,,,-95.5429,5.55,,
,,,,,,,,-81.3667,5.6,,
,,,,,,,,-67.7096,5.65,,
,,,,,,,,-54.607,5.7,,
,,,,,,,,-42.0866,5.75,,
,,,,,,,,-30.1699,5.8,,
,,,,,,,,-18.872,5.85,,
,,,,,,,,-8.20271,5.9,,
,,,,,,,,1.83338,5.95,,
,,,,,,,,11.2362,6,,
,,,,,,,,20.0098,6.05,,
,,,,,,,,28.1617,6.1,,
,,,,,,,,35.703,6.15,,
,,,,,,,,42.6473,6.2,,
,,,,,,,,49.0108,6.25,,
,,,,,,,,54.8119,6.3,,
,,,,,,,,60.0704,6.35,,
,,,,,,,,64.808,6.4,,
,,,,,,,,69.0473,6.45,,
,,,,,,,,72.8117,6.5,,
,,,,,,,,76.1256,6.55,,
,,,,,,,,79.0136,6.6,,
,,,,,,,,81.5006,6.65,,
,,,,,,,,83.6113,6.7,,
,,,,,,,,85.3708,6.75,,
,,,,,,,,86.8034,6.8,,
,,,,,,,,87.9334,6.85,,
,,,,,,,,88.7843,6.9,,
,,,,,,,,89.3791,6.95,,
,,,,,,,,89.7401,7,,
,,,,,,,,89.8889,7.05,,
,,,,,,,,89.8461,7.1,,
,,,,,,,,89.6316,7.15,,
,,,,,,,,89.2643,7.2,,
,,,,,,,,88.762,7.25,,
,,,,,,,,88.1419,7.3,,
,,,,,,,,87.4198,7.35,,
,,,,,,,,86.6109,7.4,,
,,,,,,,,85.7292,7.45,,
,,,,,,,,84.7877,7.5,,
,,,,,,,,83.7987,7.55,,
,,,,,,,,82.7732,7.6,,
,,,,,,,,81.7216,7.65,,
,,,,,,,,80.6533,7.7,,
,,,,,,,,79.5768,7.75,,
,,,,,,,,78.4999,7.8,,
,,,,,,,,77.4294,7.85,,
,,,,,,,,76.3717,7.9,,
,,,,,,,,75.3321,7.95,,
,,,,,,,,74.3155,8,,
,,,,,,,,73.326,8.05,,
,,,,,,,,72.3671,8.1,,
,,,,,,,,71.4419,8.15,,
,,,,,,,,70.5528,8.2,,
,,,,,,,,69.7018,8.25,,
,,,,,,,,68.8905,8.3,,
,,,,,,,,68.12,8.35,,
,,,,,,,,67.3909,8.4,,
,,,,,,,,66.7038,8.45,,
,,,,,,,,66.0587,8.5,,
,,,,,,,,65.4554,8.55,,
,,,,,,,,64.8935,8.6,,
,,,,,,,,64.3722,8.65,,
,,,,,,,,63.8909,8.7,,
,,,,,,,,63.4483,8.75,,
,,,,,,,,63.0434,8.8,,
,,,,,,,,62.6748,8.85,,
,,,,,,,,62.3412,8.9,,
,,,,,,,,62.041,8.95,,
,,,,,,,,61.7727,9,,
,,,,,,,,61.5348,9.05,,
,,,,,,,,61.3256,9.1,,
,,,,,,,,61.1435,9.15,,
,,,,,,,,60.9867,9.2,,
,,,,,,,,60.8537,9.25,,
,,,,,,,,60.7428,9.3,,
,,,,,,,,60.6525,9.35,,
,,,,,,,,60.5811,9.4,,
,,,,,,,,60.5271,9.45,,
,,,,,,,,60.489,9.5,,
,,,,,,,,60.4654,9.55,,
,,,,,,,,60.4548,9.6,,
,,,,,,,,60.4561,9.65,,
,,,,,,,,60.4678,9.7,,
,,,,,,,,60.4887,9.75,,
,,,,,,,,60.5178,9.8,,
,,,,,,,,60.554,9.85,,
,,,,,,,,60.5962,9.9,,
,,,,,,,,60.6435,9.95,,
,,,,,,,,60.695,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,2.5,,,0,0.5
,,,,,,,,0,0,,
,,,,,,,,-56910.4,0.05,,
,,,,,,,,-55805,0.1,,
,,,,,,,,-52831.4,0.15,,
,,,,,,,,-49769.9,0.2,,
,,,,,,,,-46698.3,0.25,,
,,,,,,,,-43639,0.3,,
,,,,,,,,-40610.7,0.35,,
,,,,,,,,-37629.5,0.4,,
,,,,,,,,-34710.1,0.45,,
,,,,,,,,-31864.9,0.5,,
,,,,,,,,-29104.7,0.55,,
,,,,,,,,-26438.7,0.6,,
,,,,,,,,-23874.3,0.65,,
,,,,,,,,-21417.8,0.7,,
,,,,,,,,-19074,0.75,,
,,,,,,,,-16846.5,0.8,,
,,,,,,,,-14737.8,0.85,,
,,,,,,,,-12749.3,0.9,,
,,,,,,,,-10881.6,0.95,,
,,,,,,,,-9134.34,1,,
,,,,,,,,-7506.54,1.05,,
,,,,,,,,-5996.47,1.1,,
,,,,,,,,-4601.83,1.15,,
,,,,,,,,-3319.82,1.2,,
,,,,,,,,-2147.18,1.25,,
,,,,,,,,-1080.31,1.3,,
,,,,,,,,-115.269,1.35,,
,,,,,,,,752.132,1.4,,
,,,,,,,,1526.28,1.45,,
,,,,,,,,2211.72,1.5,,
,,,,,,,,2813.1,1.55,,
,,,,,,,,3335.14,1.6,,
,,,,,,,,3782.58,1.65,,
,,,,,,,,4160.17,1.7,,
,,,,,,,,4472.62,1.75,,
,,,,,,,,4724.57,1.8,,
,,,,,,,,4920.59,1.85,,
,,,,,,,,5065.14,1.9,,
,,,,,,,,5162.54,1.95,,
,,,,,,,,5216.99,2,,
,,,,,,,,5232.54,2.05,,
,,,,,,,,5213.07,2.1,,
,,,,,,,,5162.28,2.15,,
,,,,,,,,5083.7,2.2,,
,,,,,,,,4980.69,2.25,,
,,,,,,,,4856.42,2.3,,
,,,,,,,,4713.85,2.35,,
,,,,,,,,4555.78,2.4,,
,,,,,,,,4384.82,2.45,,
,,,,,,,,4203.4,2.5,,
,,,,,,,,4013.74,2.55,,
,,,,,,,,3817.93,2.6,,
,,,,,,,,3617.85,2.65,,
,,,,,,,,3415.24,2.7,,
,,,,,,,,3211.65,2.75,,
,,,,,,,,3008.51,2.8,,
,,,,,,,,2807.08,2.85,,
,,,,,,,,2608.48,2.9,,
,,,,,,,,2413.71,2.95,,
,,,,,,,,2223.64,3,,
,,,,,,,,2039.01,3.05,,
,,,,,,,,1860.45,3.1,,
,,,,,,,,1688.51,3.15,,
,,,,,,,,1523.6,3.2,,
,,,,,,,,1366.08,3.25,,
,,,,,,,,1216.21,3.3,,
,,,,,,,,1074.17,3.35,,
,,,,,,,,940.075,3.4,,
,,,,,,,,813.984,3.45,,
,,,,,,,,695.889,3.5,,
,,,,,,,,585.735,3.55,,
,,,,,,,,483.421,3.6,,
,,,,,,,,388.804,3.65,,
,,,,,,,,301.709,3.7,,
,,,,,,,,221.927,3.75,,
,,,,,,,,149.226,3.8,,
,,,,,,,,83.3515,3.85,,
,,,,,,,,24.0291,3.9,,
,,,,,,,,-29.0281,3.95,,
,,,,,,,,-76.1187,4,,
,,,,,,,,-117.549,4.05,,
,,,,,,,,-153.631,4.1,,
,,,,,,,,-184.679,4.15,,
,,,,,,,,-211.007,4.2,,
,,,,,,,,-232.928,4.25,,
,,,,,,,,-250.752,4.3,,
,,,,,,,,-264.783,4.35,,
,,,,,,,,-275.319,4.4,,
,,,,,,,,-282.649,4.45,,
,,,,,,,,-287.053,4.5,,
,,,,,,,,-288.804,4.55,,
,,,,,,,,-288.16,4.6,,
,,,,,,,,-285.372,4.65,,
,,,,,,,,-280.676,4.7,,
,,,,,,,,-274.299,4.75,,
,,,,,,,,-266.453,4.8,,
,,,,,,,,-257.34,4.85,,
,,,,,,,,-247.147,4.9,,
,,,,,,,,-236.053,4.95,,
,,,,,,,,-224.219,5,,
,,,,,,,,-211.799,5.05,,
,,,,,,,,-198.933,5.1,,
,,,,,,,,-185.749,5.15,,
,,,,,,,,-172.365,5.2,,
,,,,,,,,-158.889,5.25,,
,,,,,,,,-145.416,5.3,,
,,,,,,,,-132.033,5.35,,
,,,,,,,,-118.818,5.4,,
,,,,,,,,-105.839,5.45,,
,,,,,,,,-93.1547,5.5,,
,,,,,,,,-80.8181,5.55,,
,,,,,,,,-68.873,5.6,,
,,,,,,,,-57.3563,5.65,,
,,,,,,,,-46.2988,5.7,,
,,,,,,,,-35.7249,5.75,,
,,,,,,,,-25.6535,5.8,,
,,,,,,,,-16.0981,5.85,,
,,,,,,,,-7.06786,5.9,,
,,,,,,,,1.43272,5.95,,
,,,,,,,,9.40286,6,,
,,,,,,,,16.8453,6.05,,
,,,,,,,,23.766,6.1,,
,,,,,,,,30.1735,6.15,,
,,,,,,,,36.0789,6.2,,
,,,,,,,,41.4954,6.25,,
,,,,,,,,46.4381,6.3,,
,,,,,,,,50.9233,6.35,,
,,,,,,,,54.969,6.4,,
,,,,,,,,58.5939,6.45,,
,,,,,,,,61.8176,6.5,,
,,,,,,,,64.6603,6.55,,
,,,,,,,,67.1426,6.6,,
,,,,,,,,69.2852,6.65,,
,,,,,,,,71.1091,6.7,,
,,,,,,,,72.6349,6.75,,
,,,,,,,,73.8834,6.8,,
,,,,,,,,74.8747,6.85,,
,,,,,,,,75.6288,6.9,,
,,,,,,,,76.165,6.95,,
,,,,,,,,76.502,7,,
,,,,,,,,76.658,7.05,,
,,,,,,,,76.6505,7.1,,
,,,,,,,,76.4962,7.15,,
,,,,,,,,76.211,7.2,,
,,,,,,,,75.8102,7.25,,
,,,,,,,,75.3081,7.3,,
,,,,,,,,74.7183,7.35,,
,,,,,,,,74.0535,7.4,,
,,,,,,,,73.3256,7.45,,
,,,,,,,,72.5457,7.5,,
,,,,,,,,71.7241,7.55,,
,,,,,,,,70.8703,7.6,,
,,,,,,,,69.9932,7.65,,
,,,,,,,,69.1006,7.7,,
,,,,,,,,68.2,7.75,,
,,,,,,,,67.2978,7.8,,
,,,,,,,,66.4,7.85,,
,,,,,,,,65.5119,7.9,,
,,,,,,,,64.6382,7.95,,
,,,,,,,,63.7831,8,,
,,,,,,,,62.95,8.05,,
,,,,,,,,62.1421,8.1,,
,,,,,,,,61.3619,8.15,,
,,,,,,,,60.6116,8.2,,
,,,,,,,,59.8929,8.25,,
,,,,,,,,59.2073,8.3,,
,,,,,,,,58.5556,8.35,,
,,,,,,,,57.9385,8.4,,
,,,,,,,,57.3565,8.45,,
,,,,,,,,56.8097,8.5,,
,,,,,,,,56.298,8.55,,
,,,,,,,,55.8209,8.6,,
,,,,,,,,55.3781,8.65,,
,,,,,,,,54.9687,8.7,,
,,,,,,,,54.5921,8.75,,
,,,,,,,,54.2471,8.8,,
,,,,,,,,53.9328,8.85,,
,,,,,,,,53.6479,8.9,,
,,,,,,,,53.3913,8.95,,
,,,,,,,,53.1617,9,,
,,,,,,,,52.9577,9.05,,
,,,,,,,,52.778,9.1,,
,,,,,,,,52.6212,9.15,,
,,,,,,,,52.4859,9.2,,
,,,,,,,,52.3708,9.25,,
,,,,,,,,52.2744,9.3,,
,,,,,,,,52.1955,9.35,,
,,,,,,,,52.1327,9.4,,
,,,,,,,,52.0847,9.45,,
,,,,,,,,52.0502,9.5,,
,,,,,,,,52.0281,9.55,,
,,,,,,,,52.0171,9.6,,
,,,,,,,,52.0162,9.65,,
,,,,,,,,52.0242,9.7,,
,,,,,,,,52.0403,9.75,,
,,,,,,,,52.0632,9.8,,
,,,,,,,,52.0923,9.85,,
,,,,,,,,52.1265,9.9,,
,,,,,,,,52.1652,9.95,,
,,,,,,,,52.2075,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,2,,,0,0.5
,,,,,,,,0,0,,
,,,,,,,,-46475.7,0.05,,
,,,,,,,,-45619.4,0.1,,
,,,,,,,,-43233.8,0.15,,
,,,,,,,,-40771.4,0.2,,
,,,,,,,,-38296.1,0.25,,
,,,,,,,,-35826.5,0.3,,
,,,,,,,,-33377.9,0.35,,
,,,,,,,,-30964.1,0.4,,
,,,,,,,,-28596.9,0.45,,
,,,,,,,,-26287.1,0.5,,
,,,,,,,,-24043.5,0.55,,
,,,,,,,,-21873.9,0.6,,
,,,,,,,,-19784.8,0.65,,
,,,,,,,,-17781.4,0.7,,
,,,,,,,,-15867.9,0.75,,
,,,,,,,,-14047.3,0.8,,
,,,,,,,,-12322.1,0.85,,
,,,,,,,,-10693.5,0.9,,
,,,,,,,,-9162.2,0.95,,
,,,,,,,,-7728.12,1,,
,,,,,,,,-6390.57,1.05,,
,,,,,,,,-5148.31,1.1,,
,,,,,,,,-3999.62,1.15,,
,,,,,,,,-2942.34,1.2,,
,,,,,,,,-1973.93,1.25,,
,,,,,,,,-1091.57,1.3,,
,,,,,,,,-292.15,1.35,,
,,,,,,,,427.663,1.4,,
,,,,,,,,1071.36,1.45,,
,,,,,,,,1642.58,1.5,,
,,,,,,,,2145.04,1.55,,
,,,,,,,,2582.53,1.6,,
,,,,,,,,2958.89,1.65,,
,,,,,,,,3277.92,1.7,,
,,,,,,,,3543.45,1.75,,
,,,,,,,,3759.22,1.8,,
,,,,,,,,3928.93,1.85,,
,,,,,,,,4056.21,1.9,,
,,,,,,,,4144.57,1.95,,
,,,,,,,,4197.42,2,,
,,,,,,,,4218.06,2.05,,
,,,,,,,,4209.64,2.1,,
,,,,,,,,4175.2,2.15,,
,,,,,,,,4117.62,2.2,,
,,,,,,,,4039.64,2.25,,
,,,,,,,,3943.84,2.3,,
,,,,,,,,3832.68,2.35,,
,,,,,,,,3708.44,2.4,,
,,,,,,,,3573.26,2.45,,
,,,,,,,,3429.13,2.5,,
,,,,,,,,3277.9,2.55,,
,,,,,,,,3121.28,2.6,,
,,,,,,,,2960.82,2.65,,
,,,,,,,,2797.95,2.7,,
,,,,,,,,2633.98,2.75,,
,,,,,,,,2470.07,2.8,,
,,,,,,,,2307.27,2.85,,
,,,,,,,,2146.53,2.9,,
,,,,,,,,1988.67,2.95,,
,,,,,,,,1834.41,3,,
,,,,,,,,1684.39,3.05,,
,,,,,,,,1539.13,3.1,,
,,,,,,,,1399.09,3.15,,
,,,,,,,,1264.64,3.2,,
,,,,,,,,1136.08,3.25,,
,,,,,,,,1013.63,3.3,,
,,,,,,,,897.452,3.35,,
,,,,,,,,787.663,3.4,,
,,,,,,,,684.315,3.45,,
,,,,,,,,587.417,3.5,,
,,,,,,,,496.933,3.55,,
,,,,,,,,412.793,3.6,,
,,,,,,,,334.889,3.65,,
,,,,,,,,263.088,3.7,,
,,,,,,,,197.228,3.75,,
,,,,,,,,137.127,3.8,,
,,,,,,,,82.583,3.85,,
,,,,,,,,33.3802,3.9,,
,,,,,,,,-10.7105,3.95,,
,,,,,,,,-49.9275,4,,
,,,,,,,,-84.5161,4.05,,
,,,,,,,,-114.727,4.1,,
,,,,,,,,-140.812,4.15,,
,,,,,,,,-163.026,4.2,,
,,,,,,,,-181.622,4.25,,
,,,,,,,,-196.848,4.3,,
,,,,,,,,-208.953,4.35,,
,,,,,,,,-218.177,4.4,,
,,,,,,,,-224.755,4.45,,
,,,,,,,,-228.916,4.5,,
,,,,,,,,-230.88,4.55,,
,,,,,,,,-230.86,4.6,,
,,,,,,,,-229.058,4.65,,
,,,,,,,,-225.669,4.7,,
,,,,,,,,-220.876,4.75,,
,,,,,,,,-214.855,4.8,,
,,,,,,,,-207.77,4.85,,
,,,,,,,,-199.775,4.9,,
,,,,,,,,-191.016,4.95,,
,,,,,,,,-181.628,5,,
,,,,,,,,-171.734,5.05,,
,,,,,,,,-161.452,5.1,,
,,,,,,,,-150.886,5.15,,
,,,,,,,,-140.135,5.2,,
,,,,,,,,-129.287,5.25,,
,,,,,,,,-118.422,5.3,,
,,,,,,,,-107.611,5.35,,
,,,,,,,,-96.9193,5.4,,
,,,,,,,,-86.4036,5.45,,
,,,,,,,,-76.1138,5.5,,
,,,,,,,,-66.0933,5.55,,
,,,,,,,,-56.3793,5.6,,
,,,,,,,,-47.003,5.65,,
,,,,,,,,-37.9907,5.7,,
,,,,,,,,-29.3633,5.75,,
,,,,,,,,-21.1371,5.8,,
,,,,,,,,-13.3243,5.85,,
,,,,,,,,-5.93301,5.9,,
,,,,,,,,1.03206,5.95,,
,,,,,,,,7.56952,6,,
,,,,,,,,13.6809,6.05,,
,,,,,,,,19.3702,6.1,,
,,,,,,,,24.6439,6.15,,
,,,,,,,,29.5105,6.2,,
,,,,,,,,33.98,6.25,,
,,,,,,,,38.0643,6.3,,
,,,,,,,,41.7762,6.35,,
,,,,,,,,45.13,6.4,,
,,,,,,,,48.1406,6.45,,
,,,,,,,,50.8235,6.5,,
,,,,,,,,53.195,6.55,,
,,,,,,,,55.2715,6.6,,
,,,,,,,,57.0699,6.65,,
,,,,,,,,58.6068,6.7,,
,,,,,,,,59.8991,6.75,,
,,,,,,,,60.9634,6.8,,
,,,,,,,,61.8161,6.85,,
,,,,,,,,62.4733,6.9,,
,,,,,,,,62.9508,6.95,,
,,,,,,,,63.2638,7,,
,,,,,,,,63.4271,7.05,,
,,,,,,,,63.4548,7.1,,
,,,,,,,,63.3607,7.15,,
,,,,,,,,63.1578,7.2,,
,,,,,,,,62.8584,7.25,,
,,,,,,,,62.4744,7.3,,
,,,,,,,,62.0168,7.35,,
,,,,,,,,61.496,7.4,,
,,,,,,,,60.9219,7.45,,
,,,,,,,,60.3036,7.5,,
,,,,,,,,59.6495,7.55,,
,,,,,,,,58.9675,7.6,,
,,,,,,,,58.2648,7.65,,
,,,,,,,,57.548,7.7,,
,,,,,,,,56.8231,7.75,,
,,,,,,,,56.0957,7.8,,
,,,,,,,,55.3705,7.85,,
,,,,,,,,54.6521,7.9,,
,,,,,,,,53.9444,7.95,,
,,,,,,,,53.2506,8,,
,,,,,,,,52.574,8.05,,
,,,,,,,,51.917,8.1,,
,,,,,,,,51.2819,8.15,,
,,,,,,,,50.6704,8.2,,
,,,,,,,,50.084,8.25,,
,,,,,,,,49.524,8.3,,
,,,,,,,,48.9911,8.35,,
,,,,,,,,48.4861,8.4,,
,,,,,,,,48.0093,8.45,,
,,,,,,,,47.5608,8.5,,
,,,,,,,,47.1406,8.55,,
,,,,,,,,46.7484,8.6,,
,,,,,,,,46.3839,8.65,,
,,,,,,,,46.0466,8.7,,
,,,,,,,,45.7358,8.75,,
,,,,,,,,45.4508,8.8,,
,,,,,,,,45.1907,8.85,,
,,,,,,,,44.9547,8.9,,
,,,,,,,,44.7416,8.95,,
,,,,,,,,44.5506,9,,
,,,,,,,,44.3806,9.05,,
,,,,,,,,44.2304,9.1,,
,,,,,,,,44.0989,9.15,,
,,,,,,,,43.9851,9.2,,
,,,,,,,,43.8879,9.25,,
,,,,,,,,43.806,9.3,,
,,,,,,,,43.7385,9.35,,
,,,,,,,,43.6843,9.4,,
,,,,,,,,43.6423,9.45,,
,,,,,,,,43.6114,9.5,,
,,,,,,,,43.5908,9.55,,
,,,,,,,,43.5794,9.6,,
,,,,,,,,43.5763,9.65,,
,,,,,,,,43.5807,9.7,,
,,,,,,,,43.5918,9.75,,
,,,,,,,,43.6086,9.8,,
,,,,,,,,43.6306,9.85,,
,,,,,,,,43.6569,9.9,,
,,,,,,,,43.6869,9.95,,
,,,,,,,,43.7201,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,1.5,,,0,0.5
,,,,,,,,0,0,,
,,,,,,,,-36041.1,0.05,,
,,,,,,,,-35433.8,0.1,,
,,,,,,,,-33636.1,0.15,,
,,,,,,,,-31772.9,0.2,,
,,,,,,,,-29894,0.25,,
,,,,,,,,-28014,0.3,,
,,,,,,,,-26145.2,0.35,,
,,,,,,,,-24298.6,0.4,,
,,,,,,,,-22483.8,0.45,,
,,,,,,,,-20709.2,0.5,,
,,,,,,,,-18982.3,0.55,,
,,,,,,,,-17309.2,0.6,,
,,,,,,,,-15695.3,0.65,,
,,,,,,,,-14145,0.7,,
,,,,,,,,-12661.7,0.75,,
,,,,,,,,-11248.2,0.8,,
,,,,,,,,-9906.4,0.85,,
,,,,,,,,-8637.72,0.9,,
,,,,,,,,-7442.83,0.95,,
,,,,,,,,-6321.9,1,,
,,,,,,,,-5274.6,1.05,,
,,,,,,,,-4300.16,1.1,,
,,,,,,,,-3397.41,1.15,,
,,,,,,,,-2564.86,1.2,,
,,,,,,,,-1800.69,1.25,,
,,,,,,,,-1102.84,1.3,,
,,,,,,,,-469.031,1.35,,
,,,,,,,,103.194,1.4,,
,,,,,,,,616.443,1.45,,
,,,,,,,,1073.44,1.5,,
,,,,,,,,1476.98,1.55,,
,,,,,,,,1829.93,1.6,,
,,,,,,,,2135.19,1.65,,
,,,,,,,,2395.68,1.7,,
,,,,,,,,2614.27,1.75,,
,,,,,,,,2793.86,1.8,,
,,,,,,,,2937.28,1.85,,
,,,,,,,,3047.29,1.9,,
,,,,,,,,3126.6,1.95,,
,,,,,,,,3177.85,2,,
,,,,,,,,3203.58,2.05,,
,,,,,,,,3206.22,2.1,,
,,,,,,,,3188.13,2.15,,
,,,,,,,,3151.54,2.2,,
,,,,,,,,3098.58,2.25,,
,,,,,,,,3031.27,2.3,,
,,,,,,,,2951.51,2.35,,
,,,,,,,,2861.1,2.4,,
,,,,,,,,2761.69,2.45,,
,,,,,,,,2654.86,2.5,,
,,,,,,,,2542.06,2.55,,
,,,,,,,,2424.62,2.6,,
,,,,,,,,2303.78,2.65,,
,,,,,,,,2180.66,2.7,,
,,,,,,,,2056.3,2.75,,
,,,,,,,,1931.62,2.8,,
,,,,,,,,1807.47,2.85,,
,,,,,,,,1684.58,2.9,,
,,,,,,,,1563.62,2.95,,
,,,,,,,,1445.18,3,,
,,,,,,,,1329.77,3.05,,
,,,,,,,,1217.81,3.1,,
,,,,,,,,1109.68,3.15,,
,,,,,,,,1005.69,3.2,,
,,,,,,,,906.079,3.25,,
,,,,,,,,811.047,3.3,,
,,,,,,,,720.738,3.35,,
,,,,,,,,635.252,3.4,,
,,,,,,,,554.647,3.45,,
,,,,,,,,478.944,3.5,,
,,,,,,,,408.131,3.55,,
,,,,,,,,342.165,3.6,,
,,,,,,,,280.975,3.65,,
,,,,,,,,224.468,3.7,,
,,,,,,,,172.529,3.75,,
,,,,,,,,125.027,3.8,,
,,,,,,,,81.8146,3.85,,
,,,,,,,,42.7312,3.9,,
,,,,,,,,7.60704,3.95,,
,,,,,,,,-23.7363,4,,
,,,,,,,,-51.4832,4.05,,
,,,,,,,,-75.8226,4.1,,
,,,,,,,,-96.9459,4.15,,
,,,,,,,,-115.046,4.2,,
,,,,,,,,-130.315,4.25,,
,,,,,,,,-142.945,4.3,,
,,,,,,,,-153.123,4.35,,
,,,,,,,,-161.035,4.4,,
,,,,,,,,-166.862,4.45,,
,,,,,,,,-170.779,4.5,,
,,,,,,,,-172.957,4.55,,
,,,,,,,,-173.56,4.6,,
,,,,,,,,-172.745,4.65,,
,,,,,,,,-170.661,4.7,,
,,,,,,,,-167.454,4.75,,
,,,,,,,,-163.257,4.8,,
,,,,,,,,-158.2,4.85,,
,,,,,,,,-152.403,4.9,,
,,,,,,,,-145.98,4.95,,
,,,,,,,,-139.036,5,,
,,,,,,,,-131.669,5.05,,
,,,,,,,,-123.971,5.1,,
,,,,,,,,-116.024,5.15,,
,,,,,,,,-107.905,5.2,,
,,,,,,,,-99.6852,5.25,,
,,,,,,,,-91.4274,5.3,,
,,,,,,,,-83.1888,5.35,,
,,,,,,,,-75.0207,5.4,,
,,,,,,,,-66.9687,5.45,,
,,,,,,,,-59.073,5.5,,
,,,,,,,,-51.3685,5.55,,
,,,,,,,,-43.8856,5.6,,
,,,,,,,,-36.6498,5.65,,
,,,,,,,,-29.6826,5.7,,
,,,,,,,,-23.0016,5.75,,
,,,,,,,,-16.6207,5.8,,
,,,,,,,,-10.5504,5.85,,
,,,,,,,,-4.79816,5.9,,
,,,,,,,,0.6314,5.95,,
,,,,,,,,5.73619,6,,
,,,,,,,,10.5164,6.05,,
,,,,,,,,14.9745,6.1,,
,,,,,,,,19.1144,6.15,,
,,,,,,,,22.942,6.2,,
,,,,,,,,26.4646,6.25,,
,,,,,,,,29.6904,6.3,,
,,,,,,,,32.6291,6.35,,
,,,,,,,,35.291,6.4,,
,,,,,,,,37.6872,6.45,,
,,,,,,,,39.8294,6.5,,
,,,,,,,,41.7297,6.55,,
,,,,,,,,43.4005,6.6,,
,,,,,,,,44.8545,6.65,,
,,,,,,,,46.1045,6.7,,
,,,,,,,,47.1632,6.75,,
,,,,,,,,48.0433,6.8,,
,,,,,,,,48.7575,6.85,,
,,,,,,,,49.3179,6.9,,
,,,,,,,,49.7367,6.95,,
,,,,,,,,50.0257,7,,
,,,,,,,,50.1962,7.05,,
,,,,,,,,50.2592,7.1,,
,,,,,,,,50.2253,7.15,,
,,,,,,,,50.1046,7.2,,
,,,,,,,,49.9066,7.25,,
,,,,,,,,49.6406,7.3,,
,,,,,,,,49.3152,7.35,,
,,,,,,,,48.9386,7.4,,
,,,,,,,,48.5183,7.45,,
,,,,,,,,48.0615,7.5,,
,,,,,,,,47.5749,7.55,,
,,,,,,,,47.0646,7.6,,
,,,,,,,,46.5364,7.65,,
,,,,,,,,45.9953,7.7,,
,,,,,,,,45.4463,7.75,,
,,,,,,,,44.8936,7.8,,
,,,,,,,,44.3411,7.85,,
,,,,,,,,43.7923,7.9,,
,,,,,,,,43.2505,7.95,,
,,,,,,,,42.7182,8,,
,,,,,,,,42.198,8.05,,
,,,,,,,,41.692,8.1,,
,,,,,,,,41.2018,8.15,,
,,,,,,,,40.7291,8.2,,
,,,,,,,,40.2751,8.25,,
,,,,,,,,39.8407,8.3,,
,,,,,,,,39.4267,8.35,,
,,,,,,,,39.0337,8.4,,
,,,,,,,,38.662,8.45,,
,,,,,,,,38.3118,8.5,,
,,,,,,,,37.9831,8.55,,
,,,,,,,,37.6759,8.6,,
,,,,,,,,37.3898,8.65,,
,,,,,,,,37.1245,8.7,,
,,,,,,,,36.8796,8.75,,
,,,,,,,,36.6546,8.8,,
,,,,,,,,36.4487,8.85,,
,,,,,,,,36.2614,8.9,,
,,,,,,,,36.092,8.95,,
,,,,,,,,35.9396,9,,
,,,,,,,,35.8034,9.05,,
,,,,,,,,35.6827,9.1,,
,,,,,,,,35.5767,9.15,,
,,,,,,,,35.4843,9.2,,
,,,,,,,,35.4049,9.25,,
,,,,,,,,35.3376,9.3,,
,,,,,,,,35.2816,9.35,,
,,,,,,,,35.2359,9.4,,
,,,,,,,,35.1999,9.45,,
,,,,,,,,35.1726,9.5,,
,,,,,,,,35.1535,9.55,,
,,,,,,,,35.1417,9.6,,
,,,,,,,,35.1365,9.65,,
,,,,,,,,35.1372,9.7,,
,,,,,,,,35.1433,9.75,,
,,,,,,,,35.154,9.8,,
,,,,,,,,35.1688,9.85,,
,,,,,,,,35.1872,9.9,,
,,,,,,,,35.2086,9.95,,
,,,,,,,,35.2326,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,1,,,0,0.5
,,,,,,,,0,0,,
,,,,,,,,-25606.5,0.05,,
,,,,,,,,-25248.2,0.1,,
,,,,,,,,-24038.4,0.15,,
,,,,,,,,-22774.4,0.2,,
,,,,,,,,-21491.8,0.25,,
,,,,,,,,-20201.4,0.3,,
,,,,,,,,-18912.5,0.35,,
,,,,,,,,-17633.1,0.4,,
,,,,,,,,-16370.6,0.45,,
,,,,,,,,-15131.3,0.5,,
,,,,,,,,-13921,0.55,,
,,,,,,,,-12744.5,0.6,,
,,,,,,,,-11605.8,0.65,,
,,,,,,,,-10508.5,0.7,,
,,,,,,,,-9455.51,0.75,,
,,,,,,,,-8448.99,0.8,,
,,,,,,,,-7490.71,0.85,,
,,,,,,,,-6581.93,0.9,,
,,,,,,,,-5723.45,0.95,,
,,,,,,,,-4915.68,1,,
,,,,,,,,-4158.62,1.05,,
,,,,,,,,-3452,1.1,,
,,,,,,,,-2795.2,1.15,,
,,,,,,,,-2187.38,1.2,,
,,,,,,,,-1627.44,1.25,,
,,,,,,,,-1114.1,1.3,,
,,,,,,,,-645.912,1.35,,
,,,,,,,,-221.276,1.4,,
,,,,,,,,161.523,1.45,,
,,,,,,,,504.293,1.5,,
,,,,,,,,808.916,1.55,,
,,,,,,,,1077.33,1.6,,
,,,,,,,,1311.5,1.65,,
,,,,,,,,1513.43,1.7,,
,,,,,,,,1685.1,1.75,,
,,,,,,,,1828.51,1.8,,
,,,,,,,,1945.62,1.85,,
,,,,,,,,2038.36,1.9,,
,,,,,,,,2108.63,1.95,,
,,,,,,,,2158.28,2,,
,,,,,,,,2189.09,2.05,,
,,,,,,,,2202.8,2.1,,
,,,,,,,,2201.05,2.15,,
,,,,,,,,2185.46,2.2,,
,,,,,,,,2157.53,2.25,,
,,,,,,,,2118.7,2.3,,
,,,,,,,,2070.35,2.35,,
,,,,,,,,2013.75,2.4,,
,,,,,,,,1950.13,2.45,,
,,,,,,,,1880.6,2.5,,
,,,,,,,,1806.22,2.55,,
,,,,,,,,1727.97,2.6,,
,,,,,,,,1646.75,2.65,,
,,,,,,,,1563.38,2.7,,
,,,,,,,,1478.63,2.75,,
,,,,,,,,1393.18,2.8,,
,,,,,,,,1307.66,2.85,,
,,,,,,,,1222.62,2.9,,
,,,,,,,,1138.57,2.95,,
,,,,,,,,1055.95,3,,
,,,,,,,,975.145,3.05,,
,,,,,,,,896.488,3.1,,
,,,,,,,,820.27,3.15,,
,,,,,,,,746.734,3.2,,
,,,,,,,,676.079,3.25,,
,,,,,,,,608.467,3.3,,
,,,,,,,,544.023,3.35,,
,,,,,,,,482.84,3.4,,
,,,,,,,,424.978,3.45,,
,,,,,,,,370.472,3.5,,
,,,,,,,,319.329,3.55,,
,,,,,,,,271.537,3.6,,
,,,,,,,,227.06,3.65,,
,,,,,,,,185.847,3.7,,
,,,,,,,,147.83,3.75,,
,,,,,,,,112.928,3.8,,
,,,,,,,,81.0461,3.85,,
,,,,,,,,52.0823,3.9,,
,,,,,,,,25.9246,3.95,,
,,,,,,,,2.45495,4,,
,,,,,,,,-18.4502,4.05,,
,,,,,,,,-36.9184,4.1,,
,,,,,,,,-53.0796,4.15,,
,,,,,,,,-67.0656,4.2,,
,,,,,,,,-79.0087,4.25,,
,,,,,,,,-89.0408,4.3,,
,,,,,,,,-97.2926,4.35,,
,,,,,,,,-103.893,4.4,,
,,,,,,,,-108.969,4.45,,
,,,,,,,,-112.643,4.5,,
,,,,,,,,-115.034,4.55,,
,,,,,,,,-116.26,4.6,,
,,,,,,,,-116.431,4.65,,
,,,,,,,,-115.654,4.7,,
,,,,,,,,-114.031,4.75,,
,,,,,,,,-111.659,4.8,,
,,,,,,,,-108.63,4.85,,
,,,,,,,,-105.032,4.9,,
,,,,,,,,-100.944,4.95,,
,,,,,,,,-96.4447,5,,
,,,,,,,,-91.6044,5.05,,
,,,,,,,,-86.4894,5.1,,
,,,,,,,,-81.1609,5.15,,
,,,,,,,,-75.6751,5.2,,
,,,,,,,,-70.0835,5.25,,
,,,,,,,,-64.4332,5.3,,
,,,,,,,,-58.7667,5.35,,
,,,,,,,,-53.1221,5.4,,
,,,,,,,,-47.5338,5.45,,
,,,,,,,,-42.0321,5.5,,
,,,,,,,,-36.6437,5.55,,
,,,,,,,,-31.3919,5.6,,
,,,,,,,,-26.2965,5.65,,
,,,,,,,,-21.3745,5.7,,
,,,,,,,,-16.64,5.75,,
,,,,,,,,-12.1043,5.8,,
,,,,,,,,-7.77653,5.85,,
,,,,,,,,-3.6633,5.9,,
,,,,,,,,0.230739,5.95,,
,,,,,,,,3.90285,6,,
,,,,,,,,7.352,6.05,,
,,,,,,,,10.5787,6.1,,
,,,,,,,,13.5849,6.15,,
,,,,,,,,16.3736,6.2,,
,,,,,,,,18.9491,6.25,,
,,,,,,,,21.3166,6.3,,
,,,,,,,,23.482,6.35,,
,,,,,,,,25.4521,6.4,,
,,,,,,,,27.2339,6.45,,
,,,,,,,,28.8353,6.5,,
,,,,,,,,30.2644,6.55,,
,,,,,,,,31.5295,6.6,,
,,,,,,,,32.6392,6.65,,
,,,,,,,,33.6022,6.7,,
,,,,,,,,34.4273,6.75,,
,,,,,,,,35.1233,6.8,,
,,,,,,,,35.6988,6.85,,
,,,,,,,,36.1624,6.9,,
,,,,,,,,36.5226,6.95,,
,,,,,,,,36.7876,7,,
,,,,,,,,36.9653,7.05,,
,,,,,,,,37.0636,7.1,,
,,,,,,,,37.0899,7.15,,
,,,,,,,,37.0513,7.2,,
,,,,,,,,36.9548,7.25,,
,,,,,,,,36.8069,7.3,,
,,,,,,,,36.6137,7.35,,
,,,,,,,,36.3811,7.4,,
,,,,,,,,36.1146,7.45,,
,,,,,,,,35.8194,7.5,,
,,,,,,,,35.5003,7.55,,
,,,,,,,,35.1618,7.6,,
,,,,,,,,34.808,7.65,,
,,,,,,,,34.4427,7.7,,
,,,,,,,,34.0695,7.75,,
,,,,,,,,33.6915,7.8,,
,,,,,,,,33.3116,7.85,,
,,,,,,,,32.9326,7.9,,
,,,,,,,,32.5566,7.95,,
,,,,,,,,32.1858,8,,
,,,,,,,,31.8221,8.05,,
,,,,,,,,31.4669,8.1,,
,,,,,,,,31.1218,8.15,,
,,,,,,,,30.7879,8.2,,
,,,,,,,,30.4662,8.25,,
,,,,,,,,30.1574,8.3,,
,,,,,,,,29.8623,8.35,,
,,,,,,,,29.5813,8.4,,
,,,,,,,,29.3147,8.45,,
,,,,,,,,29.0628,8.5,,
,,,,,,,,28.8257,8.55,,
,,,,,,,,28.6033,8.6,,
,,,,,,,,28.3956,8.65,,
,,,,,,,,28.2024,8.7,,
,,,,,,,,28.0234,8.75,,
,,,,,,,,27.8583,8.8,,
,,,,,,,,27.7067,8.85,,
,,,,,,,,27.5682,8.9,,
,,,,,,,,27.4423,8.95,,
,,,,,,,,27.3285,9,,
,,,,,,,,27.2263,9.05,,
,,,,,,,,27.1351,9.1,,
,,,,,,,,27.0544,9.15,,
,,,,,,,,26.9835,9.2,,
,,,,,,,,26.922,9.25,,
,,,,,,,,26.8692,9.3,,
,,,,,,,,26.8246,9.35,,
,,,,,,,,26.7875,9.4,,
,,,,,,,,26.7575,9.45,,
,,,,,,,,26.7339,9.5,,
,,,,,,,,26.7162,9.55,,
,,,,,,,,26.704,9.6,,
,,,,,,,,26.6966,9.65,,
,,,,,,,,26.6937,9.7,,
,,,,,,,,26.6948,9.75,,
,,,,,,,,26.6994,9.8,,
,,,,,,,,26.7071,9.85,,
,,,,,,,,26.7175,9.9,,
,,,,,,,,26.7303,9.95,,
,,,,,,,,26.7451,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,0.5,,,0,0.5
,,,,,,,,0,0,,
,,,,,,,,-15171.8,0.05,,
,,,,,,,,-15062.5,0.1,,
,,,,,,,,-14440.8,0.15,,
,,,,,,,,-13775.9,0.2,,
,,,,,,,,-13089.6,0.25,,
,,,,,,,,-12388.9,0.3,,
,,,,,,,,-11679.7,0.35,,
,,,,,,,,-10967.6,0.4,,
,,,,,,,,-10257.4,0.45,,
,,,,,,,,-9553.47,0.5,,
,,,,,,,,-8859.77,0.55,,
,,,,,,,,-8179.72,0.6,,
,,,,,,,,-7516.31,0.65,,
,,,,,,,,-6872.12,0.7,,
,,,,,,,,-6249.35,0.75,,
,,,,,,,,-5649.81,0.8,,
,,,,,,,,-5075.02,0.85,,
,,,,,,,,-4526.15,0.9,,
,,,,,,,,-4004.08,0.95,,
,,,,,,,,-3509.45,1,,
,,,,,,,,-3042.65,1.05,,
,,,,,,,,-2603.84,1.1,,
,,,,,,,,-2192.99,1.15,,
,,,,,,,,-1809.9,1.2,,
,,,,,,,,-1454.19,1.25,,
,,,,,,,,-1125.36,1.3,,
,,,,,,,,-822.794,1.35,,
,,,,,,,,-545.745,1.4,,
,,,,,,,,-293.396,1.45,,
,,,,,,,,-64.8493,1.5,,
,,,,,,,,140.855,1.55,,
,,,,,,,,324.725,1.6,,
,,,,,,,,487.809,1.65,,
,,,,,,,,631.179,1.7,,
,,,,,,,,755.928,1.75,,
,,,,,,,,863.154,1.8,,
,,,,,,,,953.958,1.85,,
,,,,,,,,1029.43,1.9,,
,,,,,,,,1090.66,1.95,,
,,,,,,,,1138.71,2,,
,,,,,,,,1174.61,2.05,,
,,,,,,,,1199.37,2.1,,
,,,,,,,,1213.98,2.15,,
,,,,,,,,1219.38,2.2,,
,,,,,,,,1216.47,2.25,,
,,,,,,,,1206.13,2.3,,
,,,,,,,,1189.18,2.35,,
,,,,,,,,1166.41,2.4,,
,,,,,,,,1138.56,2.45,,
,,,,,,,,1106.33,2.5,,
,,,,,,,,1070.38,2.55,,
,,,,,,,,1031.31,2.6,,
,,,,,,,,989.709,2.65,,
,,,,,,,,946.094,2.7,,
,,,,,,,,900.954,2.75,,
,,,,,,,,854.738,2.8,,
,,,,,,,,807.853,2.85,,
,,,,,,,,760.671,2.9,,
,,,,,,,,713.528,2.95,,
,,,,,,,,666.722,3,,
,,,,,,,,620.523,3.05,,
,,,,,,,,575.166,3.1,,
,,,,,,,,530.858,3.15,,
,,,,,,,,487.778,3.2,,
,,,,,,,,446.079,3.25,,
,,,,,,,,405.887,3.3,,
,,,,,,,,367.309,3.35,,
,,,,,,,,330.428,3.4,,
,,,,,,,,295.31,3.45,,
,,,,,,,,261.999,3.5,,
,,,,,,,,230.527,3.55,,
,,,,,,,,200.909,3.6,,
,,,,,,,,173.146,3.65,,
,,,,,,,,147.227,3.7,,
,,,,,,,,123.132,3.75,,
,,,,,,,,100.828,3.8,,
,,,,,,,,80.2777,3.85,,
,,,,,,,,61.4333,3.9,,
,,,,,,,,44.2422,3.95,,
,,,,,,,,28.6462,4,,
,,,,,,,,14.5827,4.05,,
,,,,,,,,1.98579,4.1,,
,,,,,,,,-9.2133,4.15,,
,,,,,,,,-19.0853,4.2,,
,,,,,,,,-27.7023,4.25,,
,,,,,,,,-35.137,4.3,,
,,,,,,,,-41.4624,4.35,,
,,,,,,,,-46.7512,4.4,,
,,,,,,,,-51.0754,4.45,,
,,,,,,,,-54.5057,4.5,,
,,,,,,,,-57.1114,4.55,,
,,,,,,,,-58.9601,4.6,,
,,,,,,,,-60.1174,4.65,,
,,,,,,,,-60.6465,4.7,,
,,,,,,,,-60.6083,4.75,,
,,,,,,,,-60.0611,4.8,,
,,,,,,,,-59.0605,4.85,,
,,,,,,,,-57.6595,4.9,,
,,,,,,,,-55.908,4.95,,
,,,,,,,,-53.8532,5,,
,,,,,,,,-51.5395,5.05,,
,,,,,,,,-49.0083,5.1,,
,,,,,,,,-46.2982,5.15,,
,,,,,,,,-43.445,5.2,,
,,,,,,,,-40.4818,5.25,,
,,,,,,,,-37.4391,5.3,,
,,,,,,,,-34.3445,5.35,,
,,,,,,,,-31.2235,5.4,,
,,,,,,,,-28.0989,5.45,,
,,,,,,,,-24.9913,5.5,,
,,,,,,,,-21.9189,5.55,,
,,,,,,,,-18.8981,5.6,,
,,,,,,,,-15.9432,5.65,,
,,,,,,,,-13.0663,5.7,,
,,,,,,,,-10.2783,5.75,,
,,,,,,,,-7.58793,5.8,,
,,,,,,,,-5.00266,5.85,,
,,,,,,,,-2.52845,5.9,,
,,,,,,,,-0.169922,5.95,,
,,,,,,,,2.06952,6,,
,,,,,,,,4.18757,6.05,,
,,,,,,,,6.18296,6.1,,
,,,,,,,,8.05534,6.15,,
,,,,,,,,9.80519,6.2,,
,,,,,,,,11.4337,6.25,,
,,,,,,,,12.9428,6.3,,
,,,,,,,,14.3349,6.35,,
,,,,,,,,15.6131,6.4,,
,,,,,,,,16.7806,6.45,,
,,,,,,,,17.8412,6.5,,
,,,,,,,,18.799,6.55,,
,,,,,,,,19.6584,6.6,,
,,,,,,,,20.4238,6.65,,
,,,,,,,,21.0999,6.7,,
,,,,,,,,21.6915,6.75,,
,,,,,,,,22.2033,6.8,,
,,,,,,,,22.6402,6.85,,
,,,,,,,,23.007,6.9,,
,,,,,,,,23.3085,6.95,,
,,,,,,,,23.5494,7,,
,,,,,,,,23.7344,7.05,,
,,,,,,,,23.868,7.1,,
,,,,,,,,23.9544,7.15,,
,,,,,,,,23.9981,7.2,,
,,,,,,,,24.003,7.25,,
,,,,,,,,23.9732,7.3,,
,,,,,,,,23.9122,7.35,,
,,,,,,,,23.8237,7.4,,
,,,,,,,,23.711,7.45,,
,,,,,,,,23.5774,7.5,,
,,,,,,,,23.4257,7.55,,
,,,,,,,,23.2589,7.6,,
,,,,,,,,23.0796,7.65,,
,,,,,,,,22.89,7.7,,
,,,,,,,,22.6926,7.75,,
,,,,,,,,22.4894,7.8,,
,,,,,,,,22.2822,7.85,,
,,,,,,,,22.0728,7.9,,
,,,,,,,,21.8627,7.95,,
,,,,,,,,21.6534,8,,
,,,,,,,,21.4461,8.05,,
,,,,,,,,21.2419,8.1,,
,,,,,,,,21.0418,8.15,,
,,,,,,,,20.8467,8.2,,
,,,,,,,,20.6573,8.25,,
,,,,,,,,20.4742,8.3,,
,,,,,,,,20.2979,8.35,,
,,,,,,,,20.1289,8.4,,
,,,,,,,,19.9674,8.45,,
,,,,,,,,19.8139,8.5,,
,,,,,,,,19.6683,8.55,,
,,,,,,,,19.5308,8.6,,
,,,,,,,,19.4015,8.65,,
,,,,,,,,19.2803,8.7,,
,,,,,,,,19.1672,8.75,,
,,,,,,,,19.062,8.8,,
,,,,,,,,18.9647,8.85,,
,,,,,,,,18.8749,8.9,,
,,,,,,,,18.7926,8.95,,
,,,,,,,,18.7174,9,,
,,,,,,,,18.6491,9.05,,
,,,,,,,,18.5875,9.1,,
,,,,,,,,18.5321,9.15,,
,,,,,,,,18.4828,9.2,,
,,,,,,,,18.4391,9.25,,
,,,,,,,,18.4008,9.3,,
,,,,,,,,18.3676,9.35,,
,,,,,,,,18.3391,9.4,,
,,,,,,,,18.315,9.45,,
,,,,,,,,18.2951,9.5,,
,,,,,,,,18.2789,9.55,,
,,,,,,,,18.2662,9.6,,
,,,,,,,,18.2568,9.65,,
,,,,,,,,18.2502,9.7,,
,,,,,,,,18.2463,9.75,,
,,,,,,,,18.2448,9.8,,
,,,,,,,,18.2454,9.85,,
,,,,,,,,18.2479,9.9,,
,,,,,,,,18.252,9.95,,
,,,,,,,,18.2576,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,3,,,0,0.25
,,,,,,,,0,0,,
,,,,,,,,-64976.4,0.05,,
,,,,,,,,-63552.1,0.1,,
,,,,,,,,-60007.3,0.15,,
,,,,,,,,-56379.4,0.2,,
,,,,,,,,-52756.4,0.25,,
,,,,,,,,-49163,0.3,,
,,,,,,,,-45619.5,0.35,,
,,,,,,,,-42143.5,0.4,,
,,,,,,,,-38750.7,0.45,,
,,,,,,,,-35454.4,0.5,,
,,,,,,,,-32266.1,0.55,,
,,,,,,,,-29195.3,0.6,,
,,,,,,,,-26249.7,0.65,,
,,,,,,,,-23435.7,0.7,,
,,,,,,,,-20757.8,0.75,,
,,,,,,,,-18219.6,0.8,,
,,,,,,,,-15823,0.85,,
,,,,,,,,-13569,0.9,,
,,,,,,,,-11457.7,0.95,,
,,,,,,,,-9488.03,1,,
,,,,,,,,-7658.24,1.05,,
,,,,,,,,-5965.82,1.1,,
,,,,,,,,-4407.67,1.15,,
,,,,,,,,-2980.09,1.2,,
,,,,,,,,-1678.94,1.25,,
,,,,,,,,-499.704,1.3,,
,,,,,,,,562.493,1.35,,
,,,,,,,,1512.76,1.4,,
,,,,,,,,2356.42,1.45,,
,,,,,,,,3098.93,1.5,,
,,,,,,,,3745.84,1.55,,
,,,,,,,,4302.76,1.6,,
,,,,,,,,4775.31,1.65,,
,,,,,,,,5169.05,1.7,,
,,,,,,,,5489.51,1.75,,
,,,,,,,,5742.13,1.8,,
,,,,,,,,5932.2,1.85,,
,,,,,,,,6064.91,1.9,,
,,,,,,,,6145.26,1.95,,
,,,,,,,,6178.09,2,,
,,,,,,,,6168.06,2.05,,
,,,,,,,,6119.61,2.1,,
,,,,,,,,6036.99,2.15,,
,,,,,,,,5924.22,2.2,,
,,,,,,,,5785.12,2.25,,
,,,,,,,,5623.29,2.3,,
,,,,,,,,5442.08,2.35,,
,,,,,,,,5244.66,2.4,,
,,,,,,,,5033.96,2.45,,
,,,,,,,,4812.7,2.5,,
,,,,,,,,4583.38,2.55,,
,,,,,,,,4348.31,2.6,,
,,,,,,,,4109.6,2.65,,
,,,,,,,,3869.17,2.7,,
,,,,,,,,3628.73,2.75,,
,,,,,,,,3389.85,2.8,,
,,,,,,,,3153.9,2.85,,
,,,,,,,,2922.11,2.9,,
,,,,,,,,2695.55,2.95,,
,,,,,,,,2475.15,3,,
,,,,,,,,2261.7,3.05,,
,,,,,,,,2055.88,3.1,,
,,,,,,,,1858.21,3.15,,
,,,,,,,,1669.16,3.2,,
,,,,,,,,1489.05,3.25,,
,,,,,,,,1318.14,3.3,,
,,,,,,,,1156.59,3.35,,
,,,,,,,,1004.48,3.4,,
,,,,,,,,861.835,3.45,,
,,,,,,,,728.599,3.5,,
,,,,,,,,604.674,3.55,,
,,,,,,,,489.906,3.6,,
,,,,,,,,384.099,3.65,,
,,,,,,,,287.021,3.7,,
,,,,,,,,198.403,3.75,,
,,,,,,,,117.954,3.8,,
,,,,,,,,45.357,3.85,,
,,,,,,,,-19.7234,3.9,,
,,,,,,,,-77.6357,3.95,,
,,,,,,,,-128.739,4,,
,,,,,,,,-173.401,4.05,,
,,,,,,,,-211.992,4.1,,
,,,,,,,,-244.884,4.15,,
,,,,,,,,-272.447,4.2,,
,,,,,,,,-295.05,4.25,,
,,,,,,,,-313.053,4.3,,
,,,,,,,,-326.811,4.35,,
,,,,,,,,-336.67,4.4,,
,,,,,,,,-342.964,4.45,,
,,,,,,,,-346.019,4.5,,
,,,,,,,,-346.146,4.55,,
,,,,,,,,-343.643,4.6,,
,,,,,,,,-338.797,4.65,,
,,,,,,,,-331.877,4.7,,
,,,,,,,,-323.142,4.75,,
,,,,,,,,-312.833,4.8,,
,,,,,,,,-301.177,4.85,,
,,,,,,,,-288.389,4.9,,
,,,,,,,,-274.666,4.95,,
,,,,,,,,-260.192,5,,
,,,,,,,,-245.139,5.05,,
,,,,,,,,-229.663,5.1,,
,,,,,,,,-213.906,5.15,,
,,,,,,,,-198,5.2,,
,,,,,,,,-182.062,5.25,,
,,,,,,,,-166.199,5.3,,
,,,,,,,,-150.505,5.35,,
,,,,,,,,-135.065,5.4,,
,,,,,,,,-119.953,5.45,,
,,,,,,,,-105.231,5.5,,
,,,,,,,,-90.9569,5.55,,
,,,,,,,,-77.1754,5.6,,
,,,,,,,,-63.9255,5.65,,
,,,,,,,,-51.2386,5.7,,
,,,,,,,,-39.139,5.75,,
,,,,,,,,-27.6447,5.8,,
,,,,,,,,-16.7682,5.85,,
,,,,,,,,-6.51641,5.9,,
,,,,,,,,3.10821,5.95,,
,,,,,,,,12.1077,6,,
,,,,,,,,20.4878,6.05,,
,,,,,,,,28.2577,6.1,,
,,,,,,,,35.4297,6.15,,
,,,,,,,,42.0185,6.2,,
,,,,,,,,48.0412,6.25,,
,,,,,,,,53.5169,6.3,,
,,,,,,,,58.466,6.35,,
,,,,,,,,62.9104,6.4,,
,,,,,,,,66.873,6.45,,
,,,,,,,,70.3775,6.5,,
,,,,,,,,73.448,6.55,,
,,,,,,,,76.1091,6.6,,
,,,,,,,,78.3854,6.65,,
,,,,,,,,80.3016,6.7,,
,,,,,,,,81.882,6.75,,
,,,,,,,,83.1507,6.8,,
,,,,,,,,84.1314,6.85,,
,,,,,,,,84.8472,6.9,,
,,,,,,,,85.3205,6.95,,
,,,,,,,,85.5729,7,,
,,,,,,,,85.6255,7.05,,
,,,,,,,,85.4982,7.1,,
,,,,,,,,85.2103,7.15,,
,,,,,,,,84.7799,7.2,,
,,,,,,,,84.2243,7.25,,
,,,,,,,,83.56,7.3,,
,,,,,,,,82.8022,7.35,,
,,,,,,,,81.9654,7.4,,
,,,,,,,,81.063,7.45,,
,,,,,,,,80.1075,7.5,,
,,,,,,,,79.1103,7.55,,
,,,,,,,,78.0823,7.6,,
,,,,,,,,77.033,7.65,,
,,,,,,,,75.9715,7.7,,
,,,,,,,,74.9057,7.75,,
,,,,,,,,73.8429,7.8,,
,,,,,,,,72.7896,7.85,,
,,,,,,,,71.7517,7.9,,
,,,,,,,,70.734,7.95,,
,,,,,,,,69.7412,8,,
,,,,,,,,68.777,8.05,,
,,,,,,,,67.8447,8.1,,
,,,,,,,,66.9469,8.15,,
,,,,,,,,66.0858,8.2,,
,,,,,,,,65.2633,8.25,,
,,,,,,,,64.4806,8.3,,
,,,,,,,,63.7387,8.35,,
,,,,,,,,63.0381,8.4,,
,,,,,,,,62.379,8.45,,
,,,,,,,,61.7614,8.5,,
,,,,,,,,61.185,8.55,,
,,,,,,,,60.6493,8.6,,
,,,,,,,,60.1534,8.65,,
,,,,,,,,59.6965,8.7,,
,,,,,,,,59.2774,8.75,,
,,,,,,,,58.895,8.8,,
,,,,,,,,58.5478,8.85,,
,,,,,,,,58.2346,8.9,,
,,,,,,,,57.9537,8.95,,
,,,,,,,,57.7037,9,,
,,,,,,,,57.4828,9.05,,
,,,,,,,,57.2896,9.1,,
,,,,,,,,57.1223,9.15,,
,,,,,,,,56.9794,9.2,,
,,,,,,,,56.8592,9.25,,
,,,,,,,,56.7601,9.3,,
,,,,,,,,56.6806,9.35,,
,,,,,,,,56.619,9.4,,
,,,,,,,,56.574,9.45,,
,,,,,,,,56.5439,9.5,,
,,,,,,,,56.5276,9.55,,
,,,,,,,,56.5235,9.6,,
,,,,,,,,56.5304,9.65,,
,,,,,,,,56.5471,9.7,,
,,,,,,,,56.5724,9.75,,
,,,,,,,,56.6053,9.8,,
,,,,,,,,56.6446,9.85,,
,,,,,,,,56.6894,9.9,,
,,,,,,,,56.7389,9.95,,
,,,,,,,,56.792,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,2.5,,,0,0.25
,,,,,,,,0,0,,
,,,,,,,,-54541.7,0.05,,
,,,,,,,,-53366.5,0.1,,
,,,,,,,,-50409.7,0.15,,
,,,,,,,,-47380.9,0.2,,
,,,,,,,,-44354.3,0.25,,
,,,,,,,,-41350.5,0.3,,
,,,,,,,,-38386.8,0.35,,
,,,,,,,,-35478,0.4,,
,,,,,,,,-32637.5,0.45,,
,,,,,,,,-29876.6,0.5,,
,,,,,,,,-27204.9,0.55,,
,,,,,,,,-24630.5,0.6,,
,,,,,,,,-22160.2,0.65,,
,,,,,,,,-19799.3,0.7,,
,,,,,,,,-17551.7,0.75,,
,,,,,,,,-15420.4,0.8,,
,,,,,,,,-13407.3,0.85,,
,,,,,,,,-11513.2,0.9,,
,,,,,,,,-9738.33,0.95,,
,,,,,,,,-8081.81,1,,
,,,,,,,,-6542.26,1.05,,
,,,,,,,,-5117.67,1.1,,
,,,,,,,,-3805.46,1.15,,
,,,,,,,,-2602.61,1.2,,
,,,,,,,,-1505.7,1.25,,
,,,,,,,,-510.968,1.3,,
,,,,,,,,385.612,1.35,,
,,,,,,,,1188.29,1.4,,
,,,,,,,,1901.5,1.45,,
,,,,,,,,2529.79,1.5,,
,,,,,,,,3077.78,1.55,,
,,,,,,,,3550.16,1.6,,
,,,,,,,,3951.61,1.65,,
,,,,,,,,4286.8,1.7,,
,,,,,,,,4560.34,1.75,,
,,,,,,,,4776.77,1.8,,
,,,,,,,,4940.54,1.85,,
,,,,,,,,5055.98,1.9,,
,,,,,,,,5127.29,1.95,,
,,,,,,,,5158.52,2,,
,,,,,,,,5153.58,2.05,,
,,,,,,,,5116.19,2.1,,
,,,,,,,,5049.91,2.15,,
,,,,,,,,4958.14,2.2,,
,,,,,,,,4844.07,2.25,,
,,,,,,,,4710.72,2.3,,
,,,,,,,,4560.92,2.35,,
,,,,,,,,4397.32,2.4,,
,,,,,,,,4222.4,2.45,,
,,,,,,,,4038.43,2.5,,
,,,,,,,,3847.54,2.55,,
,,,,,,,,3651.66,2.6,,
,,,,,,,,3452.57,2.65,,
,,,,,,,,3251.88,2.7,,
,,,,,,,,3051.06,2.75,,
,,,,,,,,2851.4,2.8,,
,,,,,,,,2654.09,2.85,,
,,,,,,,,2460.16,2.9,,
,,,,,,,,2270.51,2.95,,
,,,,,,,,2085.92,3,,
,,,,,,,,1907.08,3.05,,
,,,,,,,,1807.47,3.1,,
,,,,,,,,1562.69,3.15,,
,,,,,,,,1401.6,3.2,,
,,,,,,,,1250.42,3.25,,
,,,,,,,,1107.02,3.3,,
,,,,,,,,971.47,3.35,,
,,,,,,,,843.844,3.4,,
,,,,,,,,724.152,3.45,,
,,,,,,,,612.356,3.5,,
,,,,,,,,508.37,3.55,,
,,,,,,,,412.065,3.6,,
,,,,,,,,323.279,3.65,,
,,,,,,,,241.815,3.7,,
,,,,,,,,167.449,3.75,,
,,,,,,,,99.9356,3.8,,
,,,,,,,,39.0097,3.85,,
,,,,,,,,-15.6095,3.9,,
,,,,,,,,-64.2147,3.95,,
,,,,,,,,-107.107,4,,
,,,,,,,,-144.595,4.05,,
,,,,,,,,-176.989,4.1,,
,,,,,,,,-204.601,4.15,,
,,,,,,,,-227.742,4.2,,
,,,,,,,,-246.721,4.25,,
,,,,,,,,-261.84,4.3,,
,,,,,,,,-273.397,4.35,,
,,,,,,,,-281.681,4.4,,
,,,,,,,,-286.975,4.45,,
,,,,,,,,-289.55,4.5,,
,,,,,,,,-289.668,4.55,,
,,,,,,,,-287.579,4.6,,
,,,,,,,,-283.523,4.65,,
,,,,,,,,-277.727,4.7,,
,,,,,,,,-270.406,4.75,,
,,,,,,,,-261.765,4.8,,
,,,,,,,,-251.993,4.85,,
,,,,,,,,-241.271,4.9,,
,,,,,,,,-229.763,4.95,,
,,,,,,,,-217.626,5,,
,,,,,,,,-205.002,5.05,,
,,,,,,,,-192.021,5.1,,
,,,,,,,,-178.806,5.15,,
,,,,,,,,-165.464,5.2,,
,,,,,,,,-152.095,5.25,,
,,,,,,,,-138.789,5.3,,
,,,,,,,,-125.625,5.35,,
,,,,,,,,-112.672,5.4,,
,,,,,,,,-99.9945,5.45,,
,,,,,,,,-87.6447,5.5,,
,,,,,,,,-75.6694,5.55,,
,,,,,,,,-64.1075,5.6,,
,,,,,,,,-52.9914,5.65,,
,,,,,,,,-42.3474,5.7,,
,,,,,,,,-32.1959,5.75,,
,,,,,,,,-22.5521,5.8,,
,,,,,,,,-13.4264,5.85,,
,,,,,,,,-4.82481,5.9,,
,,,,,,,,3.25077,5.95,,
,,,,,,,,10.8019,6,,
,,,,,,,,17.8336,6.05,,
,,,,,,,,24.3533,6.1,,
,,,,,,,,30.3715,6.15,,
,,,,,,,,35.9005,6.2,,
,,,,,,,,40.9545,6.25,,
,,,,,,,,45.5496,6.3,,
,,,,,,,,49.7029,6.35,,
,,,,,,,,53.4328,6.4,,
,,,,,,,,56.7584,6.45,,
,,,,,,,,59.6997,6.5,,
,,,,,,,,62.2769,6.55,,
,,,,,,,,64.5105,6.6,,
,,,,,,,,66.4213,6.65,,
,,,,,,,,68.0299,6.7,,
,,,,,,,,69.3567,6.75,,
,,,,,,,,70.4221,6.8,,
,,,,,,,,71.2458,6.85,,
,,,,,,,,71.8471,6.9,,
,,,,,,,,72.2449,6.95,,
,,,,,,,,72.4575,7,,
,,,,,,,,72.5022,7.05,,
,,,,,,,,72.3961,7.1,,
,,,,,,,,72.1551,7.15,,
,,,,,,,,71.7945,7.2,,
,,,,,,,,71.3289,7.25,,
,,,,,,,,70.772,7.3,,
,,,,,,,,70.1367,7.35,,
,,,,,,,,69.4349,7.4,,
,,,,,,,,68.6782,7.45,,
,,,,,,,,67.8768,7.5,,
,,,,,,,,67.0404,7.55,,
,,,,,,,,66.1781,7.6,,
,,,,,,,,65.298,7.65,,
,,,,,,,,64.4075,7.7,,
,,,,,,,,63.5134,7.75,,
,,,,,,,,62.6219,7.8,,
,,,,,,,,61.7383,7.85,,
,,,,,,,,60.8674,7.9,,
,,,,,,,,60.0137,7.95,,
,,,,,,,,59.1807,8,,
,,,,,,,,58.3717,8.05,,
,,,,,,,,57.5895,8.1,,
,,,,,,,,56.8362,8.15,,
,,,,,,,,56.1137,8.2,,
,,,,,,,,55.4235,8.25,,
,,,,,,,,54.7668,8.3,,
,,,,,,,,54.1442,8.35,,
,,,,,,,,53.5562,8.4,,
,,,,,,,,53.0031,8.45,,
,,,,,,,,52.4848,8.5,,
,,,,,,,,52.0011,8.55,,
,,,,,,,,51.5515,8.6,,
,,,,,,,,51.1353,8.65,,
,,,,,,,,50.7518,8.7,,
,,,,,,,,50.4,8.75,,
,,,,,,,,50.079,8.8,,
,,,,,,,,49.7876,8.85,,
,,,,,,,,49.5247,8.9,,
,,,,,,,,49.2889,8.95,,
,,,,,,,,49.0789,9,,
,,,,,,,,48.8935,9.05,,
,,,,,,,,48.7312,9.1,,
,,,,,,,,48.5907,9.15,,
,,,,,,,,48.4706,9.2,,
,,,,,,,,48.3696,9.25,,
,,,,,,,,48.2864,9.3,,
,,,,,,,,48.2195,9.35,,
,,,,,,,,48.1677,9.4,,
,,,,,,,,48.1297,9.45,,
,,,,,,,,48.1044,9.5,,
,,,,,,,,48.0905,9.55,,
,,,,,,,,48.087,9.6,,
,,,,,,,,48.0927,9.65,,
,,,,,,,,48.1066,9.7,,
,,,,,,,,48.1277,9.75,,
,,,,,,,,48.1551,9.8,,
,,,,,,,,48.188,9.85,,
,,,,,,,,48.2255,9.9,,
,,,,,,,,48.2668,9.95,,
,,,,,,,,48.3113,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,2,,,0,0.25
,,,,,,,,0,0,,
,,,,,,,,-44107.1,0.05,,
,,,,,,,,-43180.8,0.1,,
,,,,,,,,-40812,0.15,,
,,,,,,,,-38382.4,0.2,,
,,,,,,,,-35952.1,0.25,,
,,,,,,,,-33538,0.3,,
,,,,,,,,-31154,0.35,,
,,,,,,,,-28812.6,0.4,,
,,,,,,,,-26524.4,0.45,,
,,,,,,,,-24298.7,0.5,,
,,,,,,,,-22143.6,0.55,,
,,,,,,,,-20065.8,0.6,,
,,,,,,,,-18070.7,0.65,,
,,,,,,,,-16162.8,0.7,,
,,,,,,,,-14345.5,0.75,,
,,,,,,,,-12621.2,0.8,,
,,,,,,,,-10991.6,0.85,,
,,,,,,,,-9457.46,0.9,,
,,,,,,,,-8018.96,0.95,,
,,,,,,,,-6675.59,1,,
,,,,,,,,-5426.29,1.05,,
,,,,,,,,-4269.51,1.1,,
,,,,,,,,-3203.25,1.15,,
,,,,,,,,-2225.13,1.2,,
,,,,,,,,-1332.45,1.25,,
,,,,,,,,-522.231,1.3,,
,,,,,,,,208.73,1.35,,
,,,,,,,,863.824,1.4,,
,,,,,,,,1446.58,1.45,,
,,,,,,,,1960.65,1.5,,
,,,,,,,,2409.72,1.55,,
,,,,,,,,2797.56,1.6,,
,,,,,,,,3127.92,1.65,,
,,,,,,,,3404.55,1.7,,
,,,,,,,,3631.17,1.75,,
,,,,,,,,3811.42,1.8,,
,,,,,,,,3948.88,1.85,,
,,,,,,,,4047.06,1.9,,
,,,,,,,,4109.32,1.95,,
,,,,,,,,4138.95,2,,
,,,,,,,,4139.09,2.05,,
,,,,,,,,4112.76,2.1,,
,,,,,,,,4062.84,2.15,,
,,,,,,,,3992.06,2.2,,
,,,,,,,,3903.01,2.25,,
,,,,,,,,3798.15,2.3,,
,,,,,,,,3679.75,2.35,,
,,,,,,,,3549.98,2.4,,
,,,,,,,,3410.83,2.45,,
,,,,,,,,3264.16,2.5,,
,,,,,,,,3111.7,2.55,,
,,,,,,,,2955,2.6,,
,,,,,,,,2795.53,2.65,,
,,,,,,,,2634.6,2.7,,
,,,,,,,,2473.38,2.75,,
,,,,,,,,2312.96,2.8,,
,,,,,,,,2154.29,2.85,,
,,,,,,,,1998.2,2.9,,
,,,,,,,,1845.46,2.95,,
,,,,,,,,1696.69,3,,
,,,,,,,,1552.46,3.05,,
,,,,,,,,1413.23,3.1,,
,,,,,,,,1279.39,3.15,,
,,,,,,,,1151.25,3.2,,
,,,,,,,,1029.05,3.25,,
,,,,,,,,912.983,3.3,,
,,,,,,,,803.163,3.35,,
,,,,,,,,699.66,3.4,,
,,,,,,,,602.498,3.45,,
,,,,,,,,511.654,3.5,,
,,,,,,,,427.07,3.55,,
,,,,,,,,348.65,3.6,,
,,,,,,,,276.27,3.65,,
,,,,,,,,209.78,3.7,,
,,,,,,,,149.006,3.75,,
,,,,,,,,93.7552,3.8,,
,,,,,,,,43.82,3.85,,
,,,,,,,,-1.0213,3.9,,
,,,,,,,,-41.0005,3.95,,
,,,,,,,,-76.3569,4,,
,,,,,,,,-107.335,4.05,,
,,,,,,,,-134.184,4.1,,
,,,,,,,,-157.151,4.15,,
,,,,,,,,-176.486,4.2,,
,,,,,,,,-192.437,4.25,,
,,,,,,,,-205.245,4.3,,
,,,,,,,,-215.15,4.35,,
,,,,,,,,-222.386,4.4,,
,,,,,,,,-227.178,4.45,,
,,,,,,,,-229.746,4.5,,
,,,,,,,,-230.3,4.55,,
,,,,,,,,-229.044,4.6,,
,,,,,,,,-226.17,4.65,,
,,,,,,,,-221.863,4.7,,
,,,,,,,,-216.297,4.75,,
,,,,,,,,-209.637,4.8,,
,,,,,,,,-202.038,4.85,,
,,,,,,,,-193.645,4.9,,
,,,,,,,,-184.593,4.95,,
,,,,,,,,-175.009,5,,
,,,,,,,,-165.009,5.05,,
,,,,,,,,-154.7,5.1,,
,,,,,,,,-144.181,5.15,,
,,,,,,,,-133.54,5.2,,
,,,,,,,,-122.859,5.25,,
,,,,,,,,-112.211,5.3,,
,,,,,,,,-101.661,5.35,,
,,,,,,,,-91.2682,5.4,,
,,,,,,,,-81.0829,5.45,,
,,,,,,,,-71.1498,5.5,,
,,,,,,,,-61.5073,5.55,,
,,,,,,,,-52.188,5.6,,
,,,,,,,,-43.2189,5.65,,
,,,,,,,,-34.6224,5.7,,
,,,,,,,,-26.4156,5.75,,
,,,,,,,,-18.6119,5.8,,
,,,,,,,,-11.2204,5.85,,
,,,,,,,,-4.24671,5.9,,
,,,,,,,,2.30689,5.95,,
,,,,,,,,8.441,6,,
,,,,,,,,14.1589,6.05,,
,,,,,,,,19.4662,6.1,,
,,,,,,,,24.3706,6.15,,
,,,,,,,,28.8816,6.2,,
,,,,,,,,33.0104,6.25,,
,,,,,,,,36.7693,6.3,,
,,,,,,,,40.1718,6.35,,
,,,,,,,,43.2324,6.4,,
,,,,,,,,45.9664,6.45,,
,,,,,,,,48.3893,6.5,,
,,,,,,,,50.5174,6.55,,
,,,,,,,,52.367,6.6,,
,,,,,,,,53.9547,6.65,,
,,,,,,,,55.297,6.7,,
,,,,,,,,56.4102,6.75,,
,,,,,,,,57.3106,6.8,,
,,,,,,,,58.0141,6.85,,
,,,,,,,,58.5363,6.9,,
,,,,,,,,58.8922,6.95,,
,,,,,,,,59.0967,7,,
,,,,,,,,59.1637,7.05,,
,,,,,,,,59.107,7.1,,
,,,,,,,,58.9394,7.15,,
,,,,,,,,58.6734,7.2,,
,,,,,,,,58.3207,7.25,,
,,,,,,,,57.8925,7.3,,
,,,,,,,,57.3992,7.35,,
,,,,,,,,56.8505,7.4,,
,,,,,,,,56.2557,7.45,,
,,,,,,,,55.6233,7.5,,
,,,,,,,,54.9612,7.55,,
,,,,,,,,54.2766,7.6,,
,,,,,,,,53.5762,7.65,,
,,,,,,,,52.8662,7.7,,
,,,,,,,,52.152,7.75,,
,,,,,,,,51.4387,7.8,,
,,,,,,,,50.7307,7.85,,
,,,,,,,,50.0321,7.9,,
,,,,,,,,49.3463,7.95,,
,,,,,,,,48.6764,8,,
,,,,,,,,48.0251,8.05,,
,,,,,,,,47.3946,8.1,,
,,,,,,,,46.7868,8.15,,
,,,,,,,,46.2034,8.2,,
,,,,,,,,45.6455,8.25,,
,,,,,,,,45.1141,8.3,,
,,,,,,,,44.6099,8.35,,
,,,,,,,,44.1332,8.4,,
,,,,,,,,43.6844,8.45,,
,,,,,,,,43.2635,8.5,,
,,,,,,,,42.8702,8.55,,
,,,,,,,,42.5042,8.6,,
,,,,,,,,42.1651,8.65,,
,,,,,,,,41.8522,8.7,,
,,,,,,,,41.565,8.75,,
,,,,,,,,41.3024,8.8,,
,,,,,,,,41.0638,8.85,,
,,,,,,,,40.8481,8.9,,
,,,,,,,,40.6544,8.95,,
,,,,,,,,40.4815,9,,
,,,,,,,,40.3286,9.05,,
,,,,,,,,40.1943,9.1,,
,,,,,,,,40.0778,9.15,,
,,,,,,,,39.9778,9.2,,
,,,,,,,,39.8934,9.25,,
,,,,,,,,39.8233,9.3,,
,,,,,,,,39.7666,9.35,,
,,,,,,,,39.7222,9.4,,
,,,,,,,,39.6892,9.45,,
,,,,,,,,39.6664,9.5,,
,,,,,,,,39.653,9.55,,
,,,,,,,,39.6481,9.6,,
,,,,,,,,39.6507,9.65,,
,,,,,,,,39.6601,9.7,,
,,,,,,,,39.6755,9.75,,
,,,,,,,,39.6961,9.8,,
,,,,,,,,39.7212,9.85,,
,,,,,,,,39.7501,9.9,,
,,,,,,,,39.7823,9.95,,
,,,,,,,,39.8171,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,1.5,,,0,0.25
,,,,,,,,0,0,,
,,,,,,,,-33672.5,0.05,,
,,,,,,,,-32995.2,0.1,,
,,,,,,,,-31214.4,0.15,,
,,,,,,,,-29384,0.2,,
,,,,,,,,-27549.9,0.25,,
,,,,,,,,-25725.4,0.3,,
,,,,,,,,-23921.3,0.35,,
,,,,,,,,-22147.1,0.4,,
,,,,,,,,-20411.2,0.45,,
,,,,,,,,-18720.9,0.5,,
,,,,,,,,-17082.4,0.55,,
,,,,,,,,-15501.1,0.6,,
,,,,,,,,-13981.2,0.65,,
,,,,,,,,-12526.4,0.7,,
,,,,,,,,-11139.3,0.75,,
,,,,,,,,-9822.05,0.8,,
,,,,,,,,-8575.91,0.85,,
,,,,,,,,-7401.68,0.9,,
,,,,,,,,-6299.59,0.95,,
,,,,,,,,-5269.37,1,,
,,,,,,,,-4310.32,1.05,,
,,,,,,,,-3421.35,1.1,,
,,,,,,,,-2601.04,1.15,,
,,,,,,,,-1847.65,1.2,,
,,,,,,,,-1159.2,1.25,,
,,,,,,,,-533.494,1.3,,
,,,,,,,,31.849,1.35,,
,,,,,,,,539.355,1.4,,
,,,,,,,,991.664,1.45,,
,,,,,,,,1391.5,1.5,,
,,,,,,,,1741.66,1.55,,
,,,,,,,,2044.96,1.6,,
,,,,,,,,2304.23,1.65,,
,,,,,,,,2522.3,1.7,,
,,,,,,,,2701.99,1.75,,
,,,,,,,,2846.06,1.8,,
,,,,,,,,2957.22,1.85,,
,,,,,,,,3038.13,1.9,,
,,,,,,,,3091.35,1.95,,
,,,,,,,,3119.38,2,,
,,,,,,,,3124.61,2.05,,
,,,,,,,,3109.34,2.1,,
,,,,,,,,3075.77,2.15,,
,,,,,,,,3025.98,2.2,,
,,,,,,,,2961.96,2.25,,
,,,,,,,,2885.57,2.3,,
,,,,,,,,2798.58,2.35,,
,,,,,,,,2702.64,2.4,,
,,,,,,,,2599.26,2.45,,
,,,,,,,,2489.9,2.5,,
,,,,,,,,2375.85,2.55,,
,,,,,,,,2258.35,2.6,,
,,,,,,,,2138.5,2.65,,
,,,,,,,,2017.31,2.7,,
,,,,,,,,1895.71,2.75,,
,,,,,,,,1774.52,2.8,,
,,,,,,,,1654.48,2.85,,
,,,,,,,,1536.25,2.9,,
,,,,,,,,1420.41,2.95,,
,,,,,,,,1307.46,3,,
,,,,,,,,1197.84,3.05,,
,,,,,,,,1091.91,3.1,,
,,,,,,,,989.977,3.15,,
,,,,,,,,892.293,3.2,,
,,,,,,,,799.052,3.25,,
,,,,,,,,710.403,3.3,,
,,,,,,,,626.448,3.35,,
,,,,,,,,547.249,3.4,,
,,,,,,,,472.829,3.45,,
,,,,,,,,403.182,3.5,,
,,,,,,,,338.268,3.55,,
,,,,,,,,278.022,3.6,,
,,,,,,,,222.356,3.65,,
,,,,,,,,171.159,3.7,,
,,,,,,,,124.307,3.75,,
,,,,,,,,81.6556,3.8,,
,,,,,,,,43.0516,3.85,,
,,,,,,,,8.32976,3.9,,
,,,,,,,,-22.6829,3.95,,
,,,,,,,,-50.1657,4,,
,,,,,,,,-74.3024,4.05,,
,,,,,,,,-95.2794,4.1,,
,,,,,,,,-113.285,4.15,,
,,,,,,,,-128.506,4.2,,
,,,,,,,,-141.13,4.25,,
,,,,,,,,-151.341,4.3,,
,,,,,,,,-159.32,4.35,,
,,,,,,,,-165.244,4.4,,
,,,,,,,,-169.285,4.45,,
,,,,,,,,-171.609,4.5,,
,,,,,,,,-172.377,4.55,,
,,,,,,,,-171.744,4.6,,
,,,,,,,,-169.856,4.65,,
,,,,,,,,-166.855,4.7,,
,,,,,,,,-162.874,4.75,,
,,,,,,,,-158.039,4.8,,
,,,,,,,,-152.468,4.85,,
,,,,,,,,-146.273,4.9,,
,,,,,,,,-139.557,4.95,,
,,,,,,,,-132.418,5,,
,,,,,,,,-124.945,5.05,,
,,,,,,,,-117.219,5.1,,
,,,,,,,,-109.318,5.15,,
,,,,,,,,-101.31,5.2,,
,,,,,,,,-93.257,5.25,,
,,,,,,,,-85.2166,5.3,,
,,,,,,,,-77.2391,5.35,,
,,,,,,,,-69.3696,5.4,,
,,,,,,,,-61.648,5.45,,
,,,,,,,,-54.1089,5.5,,
,,,,,,,,-46.7825,5.55,,
,,,,,,,,-39.6943,5.6,,
,,,,,,,,-32.8656,5.65,,
,,,,,,,,-26.3142,5.7,,
,,,,,,,,-20.054,5.75,,
,,,,,,,,-14.0955,5.8,,
,,,,,,,,-8.44655,5.85,,
,,,,,,,,-3.11186,5.9,,
,,,,,,,,1.90623,5.95,,
,,,,,,,,6.60766,6,,
,,,,,,,,10.9945,6.05,,
,,,,,,,,15.0704,6.1,,
,,,,,,,,18.8411,6.15,,
,,,,,,,,22.3132,6.2,,
,,,,,,,,25.495,6.25,,
,,,,,,,,28.3955,6.3,,
,,,,,,,,31.0247,6.35,,
,,,,,,,,33.3934,6.4,,
,,,,,,,,35.513,6.45,,
,,,,,,,,37.3952,6.5,,
,,,,,,,,39.0521,6.55,,
,,,,,,,,40.496,6.6,,
,,,,,,,,41.7394,6.65,,
,,,,,,,,42.7947,6.7,,
,,,,,,,,43.6744,6.75,,
,,,,,,,,44.3906,6.8,,
,,,,,,,,44.9555,6.85,,
,,,,,,,,45.3808,6.9,,
,,,,,,,,45.6781,6.95,,
,,,,,,,,45.8585,7,,
,,,,,,,,45.9328,7.05,,
,,,,,,,,45.9113,7.1,,
,,,,,,,,45.804,7.15,,
,,,,,,,,45.6202,7.2,,
,,,,,,,,45.3689,7.25,,
,,,,,,,,45.0588,7.3,,
,,,,,,,,44.6976,7.35,,
,,,,,,,,44.2931,7.4,,
,,,,,,,,43.8521,7.45,,
,,,,,,,,43.3812,7.5,,
,,,,,,,,42.8866,7.55,,
,,,,,,,,42.3737,7.6,,
,,,,,,,,41.8478,7.65,,
,,,,,,,,41.3135,7.7,,
,,,,,,,,40.7752,7.75,,
,,,,,,,,40.2366,7.8,,
,,,,,,,,39.7013,7.85,,
,,,,,,,,39.1723,7.9,,
,,,,,,,,38.6524,7.95,,
,,,,,,,,38.144,8,,
,,,,,,,,37.6491,8.05,,
,,,,,,,,37.1695,8.1,,
,,,,,,,,36.7068,8.15,,
,,,,,,,,36.2622,8.2,,
,,,,,,,,35.8366,8.25,,
,,,,,,,,35.4308,8.3,,
,,,,,,,,35.0454,8.35,,
,,,,,,,,34.6808,8.4,,
,,,,,,,,34.3371,8.45,,
,,,,,,,,34.0145,8.5,,
,,,,,,,,33.7127,8.55,,
,,,,,,,,33.4317,8.6,,
,,,,,,,,33.1709,8.65,,
,,,,,,,,32.9301,8.7,,
,,,,,,,,32.7087,8.75,,
,,,,,,,,32.5062,8.8,,
,,,,,,,,32.3218,8.85,,
,,,,,,,,32.1549,8.9,,
,,,,,,,,32.0047,8.95,,
,,,,,,,,31.8705,9,,
,,,,,,,,31.7514,9.05,,
,,,,,,,,31.6467,9.1,,
,,,,,,,,31.5555,9.15,,
,,,,,,,,31.4771,9.2,,
,,,,,,,,31.4105,9.25,,
,,,,,,,,31.3549,9.3,,
,,,,,,,,31.3097,9.35,,
,,,,,,,,31.2738,9.4,,
,,,,,,,,31.2467,9.45,,
,,,,,,,,31.2276,9.5,,
,,,,,,,,31.2157,9.55,,
,,,,,,,,31.2103,9.6,,
,,,,,,,,31.2108,9.65,,
,,,,,,,,31.2166,9.7,,
,,,,,,,,31.227,9.75,,
,,,,,,,,31.2415,9.8,,
,,,,,,,,31.2594,9.85,,
,,,,,,,,31.2804,9.9,,
,,,,,,,,31.304,9.95,,
,,,,,,,,31.3296,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,1,,,0,0.25
,,,,,,,,0,0,,
,,,,,,,,-23237.8,0.05,,
,,,,,,,,-22809.6,0.1,,
,,,,,,,,-21616.7,0.15,,
,,,,,,,,-20385.5,0.2,,
,,,,,,,,-19147.8,0.25,,
,,,,,,,,-17912.9,0.3,,
,,,,,,,,-16688.6,0.35,,
,,,,,,,,-15481.6,0.4,,
,,,,,,,,-14298,0.45,,
,,,,,,,,-13143,0.5,,
,,,,,,,,-12021.2,0.55,,
,,,,,,,,-10936.3,0.6,,
,,,,,,,,-9891.73,0.65,,
,,,,,,,,-8889.98,0.7,,
,,,,,,,,-7933.17,0.75,,
,,,,,,,,-7022.88,0.8,,
,,,,,,,,-6160.22,0.85,,
,,,,,,,,-5345.89,0.9,,
,,,,,,,,-4580.21,0.95,,
,,,,,,,,-3863.15,1,,
,,,,,,,,-3194.35,1.05,,
,,,,,,,,-2573.2,1.1,,
,,,,,,,,-1998.83,1.15,,
,,,,,,,,-1470.17,1.2,,
,,,,,,,,-985.952,1.25,,
,,,,,,,,-544.758,1.3,,
,,,,,,,,-145.032,1.35,,
,,,,,,,,214.886,1.4,,
,,,,,,,,536.745,1.45,,
,,,,,,,,822.361,1.5,,
,,,,,,,,1073.6,1.55,,
,,,,,,,,1292.35,1.6,,
,,,,,,,,1480.53,1.65,,
,,,,,,,,1640.06,1.7,,
,,,,,,,,1772.82,1.75,,
,,,,,,,,1880.71,1.8,,
,,,,,,,,1965.57,1.85,,
,,,,,,,,2029.2,1.9,,
,,,,,,,,2073.38,1.95,,
,,,,,,,,2099.81,2,,
,,,,,,,,2110.13,2.05,,
,,,,,,,,2105.92,2.1,,
,,,,,,,,2088.69,2.15,,
,,,,,,,,2059.9,2.2,,
,,,,,,,,2020.9,2.25,,
,,,,,,,,1973,2.3,,
,,,,,,,,1917.42,2.35,,
,,,,,,,,1855.29,2.4,,
,,,,,,,,1787.7,2.45,,
,,,,,,,,1715.63,2.5,,
,,,,,,,,1640.01,2.55,,
,,,,,,,,1561.7,2.6,,
,,,,,,,,1481.46,2.65,,
,,,,,,,,1400.02,2.7,,
,,,,,,,,1318.03,2.75,,
,,,,,,,,1236.07,2.8,,
,,,,,,,,1154.67,2.85,,
,,,,,,,,1074.3,2.9,,
,,,,,,,,995.365,2.95,,
,,,,,,,,918.233,3,,
,,,,,,,,843.218,3.05,,
,,,,,,,,770.587,3.1,,
,,,,,,,,700.565,3.15,,
,,,,,,,,633.337,3.2,,
,,,,,,,,569.052,3.25,,
,,,,,,,,507.823,3.3,,
,,,,,,,,449.734,3.35,,
,,,,,,,,394.837,3.4,,
,,,,,,,,343.161,3.45,,
,,,,,,,,294.71,3.5,,
,,,,,,,,249.466,3.55,,
,,,,,,,,207.394,3.6,,
,,,,,,,,168.441,3.65,,
,,,,,,,,132.539,3.7,,
,,,,,,,,99.6078,3.75,,
,,,,,,,,69.5561,3.8,,
,,,,,,,,42.2831,3.85,,
,,,,,,,,17.6808,3.9,,
,,,,,,,,-4.36533,3.95,,
,,,,,,,,-23.9745,4,,
,,,,,,,,-41.2694,4.05,,
,,,,,,,,-56.3752,4.1,,
,,,,,,,,-69.4184,4.15,,
,,,,,,,,-80.5258,4.2,,
,,,,,,,,-89.8237,4.25,,
,,,,,,,,-97.4374,4.3,,
,,,,,,,,-103.49,4.35,,
,,,,,,,,-108.102,4.4,,
,,,,,,,,-111.391,4.45,,
,,,,,,,,-113.472,4.5,,
,,,,,,,,-114.454,4.55,,
,,,,,,,,-114.444,4.6,,
,,,,,,,,-113.543,4.65,,
,,,,,,,,-111.848,4.7,,
,,,,,,,,-109.451,4.75,,
,,,,,,,,-106.441,4.8,,
,,,,,,,,-102.898,4.85,,
,,,,,,,,-98.9007,4.9,,
,,,,,,,,-94.521,4.95,,
,,,,,,,,-89.8265,5,,
,,,,,,,,-84.8796,5.05,,
,,,,,,,,-79.7382,5.1,,
,,,,,,,,-74.4553,5.15,,
,,,,,,,,-69.0796,5.2,,
,,,,,,,,-63.6553,5.25,,
,,,,,,,,-58.2224,5.3,,
,,,,,,,,-52.817,5.35,,
,,,,,,,,-47.471,5.4,,
,,,,,,,,-42.2131,5.45,,
,,,,,,,,-37.0681,5.5,,
,,,,,,,,-32.0577,5.55,,
,,,,,,,,-27.2005,5.6,,
,,,,,,,,-22.5123,5.65,,
,,,,,,,,-18.0061,5.7,,
,,,,,,,,-13.6923,5.75,,
,,,,,,,,-9.57915,5.8,,
,,,,,,,,-5.67268,5.85,,
,,,,,,,,-1.977,5.9,,
,,,,,,,,1.50557,5.95,,
,,,,,,,,4.77432,6,,
,,,,,,,,7.83001,6.05,,
,,,,,,,,10.6747,6.1,,
,,,,,,,,13.3115,6.15,,
,,,,,,,,15.7448,6.2,,
,,,,,,,,17.9795,6.25,,
,,,,,,,,20.0216,6.3,,
,,,,,,,,21.8776,6.35,,
,,,,,,,,23.5545,6.4,,
,,,,,,,,25.0597,6.45,,
,,,,,,,,26.4011,6.5,,
,,,,,,,,27.5868,6.55,,
,,,,,,,,28.625,6.6,,
,,,,,,,,29.5241,6.65,,
,,,,,,,,30.2924,6.7,,
,,,,,,,,30.9385,6.75,,
,,,,,,,,31.4706,6.8,,
,,,,,,,,31.8968,6.85,,
,,,,,,,,32.2254,6.9,,
,,,,,,,,32.464,6.95,,
,,,,,,,,32.6204,7,,
,,,,,,,,32.7019,7.05,,
,,,,,,,,32.7157,7.1,,
,,,,,,,,32.6685,7.15,,
,,,,,,,,32.5669,7.2,,
,,,,,,,,32.4172,7.25,,
,,,,,,,,32.225,7.3,,
,,,,,,,,31.9961,7.35,,
,,,,,,,,31.7356,7.4,,
,,,,,,,,31.4484,7.45,,
,,,,,,,,31.1392,7.5,,
,,,,,,,,30.812,7.55,,
,,,,,,,,30.4709,7.6,,
,,,,,,,,30.1194,7.65,,
,,,,,,,,29.7609,7.7,,
,,,,,,,,29.3984,7.75,,
,,,,,,,,29.0345,7.8,,
,,,,,,,,28.6718,7.85,,
,,,,,,,,28.3125,7.9,,
,,,,,,,,27.9585,7.95,,
,,,,,,,,27.6115,8,,
,,,,,,,,27.2731,8.05,,
,,,,,,,,26.9445,8.1,,
,,,,,,,,26.6268,8.15,,
,,,,,,,,26.321,8.2,,
,,,,,,,,26.0277,8.25,,
,,,,,,,,25.7475,8.3,,
,,,,,,,,25.481,8.35,,
,,,,,,,,25.2284,8.4,,
,,,,,,,,24.9899,8.45,,
,,,,,,,,24.7655,8.5,,
,,,,,,,,24.5553,8.55,,
,,,,,,,,24.3591,8.6,,
,,,,,,,,24.1768,8.65,,
,,,,,,,,24.008,8.7,,
,,,,,,,,23.8525,8.75,,
,,,,,,,,23.7099,8.8,,
,,,,,,,,23.5798,8.85,,
,,,,,,,,23.4616,8.9,,
,,,,,,,,23.355,8.95,,
,,,,,,,,23.2594,9,,
,,,,,,,,23.1743,9.05,,
,,,,,,,,23.0991,9.1,,
,,,,,,,,23.0333,9.15,,
,,,,,,,,22.9763,9.2,,
,,,,,,,,22.9275,9.25,,
,,,,,,,,22.8865,9.3,,
,,,,,,,,22.8527,9.35,,
,,,,,,,,22.8255,9.4,,
,,,,,,,,22.8043,9.45,,
,,,,,,,,22.7888,9.5,,
,,,,,,,,22.7784,9.55,,
,,,,,,,,22.7726,9.6,,
,,,,,,,,22.771,9.65,,
,,,,,,,,22.7731,9.7,,
,,,,,,,,22.7785,9.75,,
,,,,,,,,22.7868,9.8,,
,,,,,,,,22.7977,9.85,,
,,,,,,,,22.8108,9.9,,
,,,,,,,,22.8257,9.95,,
,,,,,,,,22.8422,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0,theta_cmd_dot,theta_0_dot
1,1000,4,-10,1,1,0,0.5,,,0,0.25
,,,,,,,,0,0,,
,,,,,,,,-12803.2,0.05,,
,,,,,,,,-12624,0.1,,
,,,,,,,,-12019.1,0.15,,
,,,,,,,,-11387,0.2,,
,,,,,,,,-10745.6,0.25,,
,,,,,,,,-10100.4,0.3,,
,,,,,,,,-9455.85,0.35,,
,,,,,,,,-8816.1,0.4,,
,,,,,,,,-8184.79,0.45,,
,,,,,,,,-7565.13,0.5,,
,,,,,,,,-6959.92,0.55,,
,,,,,,,,-6371.59,0.6,,
,,,,,,,,-5802.23,0.65,,
,,,,,,,,-5253.55,0.7,,
,,,,,,,,-4727,0.75,,
,,,,,,,,-4223.7,0.8,,
,,,,,,,,-3744.53,0.85,,
,,,,,,,,-3290.11,0.9,,
,,,,,,,,-2860.84,0.95,,
,,,,,,,,-2456.93,1,,
,,,,,,,,-2078.38,1.05,,
,,,,,,,,-1725.04,1.1,,
,,,,,,,,-1396.62,1.15,,
,,,,,,,,-1092.69,1.2,,
,,,,,,,,-812.704,1.25,,
,,,,,,,,-556.021,1.3,,
,,,,,,,,-321.913,1.35,,
,,,,,,,,-109.584,1.4,,
,,,,,,,,81.8256,1.45,,
,,,,,,,,253.219,1.5,,
,,,,,,,,405.537,1.55,,
,,,,,,,,539.749,1.6,,
,,,,,,,,656.841,1.65,,
,,,,,,,,757.807,1.7,,
,,,,,,,,843.646,1.75,,
,,,,,,,,915.352,1.8,,
,,,,,,,,973.907,1.85,,
,,,,,,,,1020.28,1.9,,
,,,,,,,,1055.41,1.95,,
,,,,,,,,1080.24,2,,
,,,,,,,,1095.64,2.05,,
,,,,,,,,1102.49,2.1,,
,,,,,,,,1101.62,2.15,,
,,,,,,,,1093.82,2.2,,
,,,,,,,,1079.85,2.25,,
,,,,,,,,1060.43,2.3,,
,,,,,,,,1036.25,2.35,,
,,,,,,,,1007.95,2.4,,
,,,,,,,,976.133,2.45,,
,,,,,,,,941.365,2.5,,
,,,,,,,,904.171,2.55,,
,,,,,,,,865.042,2.6,,
,,,,,,,,824.426,2.65,,
,,,,,,,,782.739,2.7,,
,,,,,,,,740.36,2.75,,
,,,,,,,,697.632,2.8,,
,,,,,,,,654.867,2.85,,
,,,,,,,,612.346,2.9,,
,,,,,,,,570.318,2.95,,
,,,,,,,,529.003,3,,
,,,,,,,,488.596,3.05,,
,,,,,,,,449.265,3.1,,
,,,,,,,,411.153,3.15,,
,,,,,,,,374.382,3.2,,
,,,,,,,,339.052,3.25,,
,,,,,,,,305.243,3.3,,
,,,,,,,,273.019,3.35,,
,,,,,,,,242.425,3.4,,
,,,,,,,,213.492,3.45,,
,,,,,,,,186.237,3.5,,
,,,,,,,,160.664,3.55,,
,,,,,,,,136.766,3.6,,
,,,,,,,,114.526,3.65,,
,,,,,,,,93.9187,3.7,,
,,,,,,,,74.909,3.75,,
,,,,,,,,57.4565,3.8,,
,,,,,,,,41.5147,3.85,,
,,,,,,,,27.0319,3.9,,
,,,,,,,,13.9523,3.95,,
,,,,,,,,2.21673,4,,
,,,,,,,,-8.23646,4.05,,
,,,,,,,,-17.4711,4.1,,
,,,,,,,,-25.5521,4.15,,
,,,,,,,,-32.5455,4.2,,
,,,,,,,,-38.5173,4.25,,
,,,,,,,,-43.5336,4.3,,
,,,,,,,,-47.6597,4.35,,
,,,,,,,,-50.9601,4.4,,
,,,,,,,,-53.4979,4.45,,
,,,,,,,,-55.3349,4.5,,
,,,,,,,,-56.5308,4.55,,
,,,,,,,,-57.1436,4.6,,
,,,,,,,,-57.229,4.65,,
,,,,,,,,-56.8404,4.7,,
,,,,,,,,-56.0288,4.75,,
,,,,,,,,-54.8428,4.8,,
,,,,,,,,-53.3283,4.85,,
,,,,,,,,-51.5287,4.9,,
,,,,,,,,-49.4849,4.95,,
,,,,,,,,-47.235,5,,
,,,,,,,,-44.8147,5.05,,
,,,,,,,,-42.257,5.1,,
,,,,,,,,-39.5926,5.15,,
,,,,,,,,-36.8495,5.2,,
,,,,,,,,-34.0536,5.25,,
,,,,,,,,-31.2283,5.3,,
,,,,,,,,-28.3949,5.35,,
,,,,,,,,-25.5725,5.4,,
,,,,,,,,-22.7782,5.45,,
,,,,,,,,-20.0272,5.5,,
,,,,,,,,-17.3329,5.55,,
,,,,,,,,-14.7068,5.6,,
,,,,,,,,-12.1591,5.65,,
,,,,,,,,-9.69797,5.7,,
,,,,,,,,-7.33064,5.75,,
,,,,,,,,-5.06276,5.8,,
,,,,,,,,-2.89881,5.85,,
,,,,,,,,-0.842151,5.9,,
,,,,,,,,1.10491,5.95,,
,,,,,,,,2.94099,6,,
,,,,,,,,4.66558,6.05,,
,,,,,,,,6.27894,6.1,,
,,,,,,,,7.78201,6.15,,
,,,,,,,,9.17637,6.2,,
,,,,,,,,10.4641,6.25,,
,,,,,,,,11.6478,6.3,,
,,,,,,,,12.7305,6.35,,
,,,,,,,,13.7155,6.4,,
,,,,,,,,14.6063,6.45,,
,,,,,,,,15.407,6.5,,
,,,,,,,,16.1214,6.55,,
,,,,,,,,16.7539,6.6,,
,,,,,,,,17.3087,6.65,,
,,,,,,,,17.7901,6.7,,
,,,,,,,,18.2026,6.75,,
,,,,,,,,18.5505,6.8,,
,,,,,,,,18.8382,6.85,,
,,,,,,,,19.0699,6.9,,
,,,,,,,,19.2499,6.95,,
,,,,,,,,19.3823,7,,
,,,,,,,,19.471,7.05,,
,,,,,,,,19.5201,7.1,,
,,,,,,,,19.5331,7.15,,
,,,,,,,,19.5137,7.2,,
,,,,,,,,19.4654,7.25,,
,,,,,,,,19.3913,7.3,,
,,,,,,,,19.2946,7.35,,
,,,,,,,,19.1782,7.4,,
,,,,,,,,19.0448,7.45,,
,,,,,,,,18.8971,7.5,,
,,,,,,,,18.7374,7.55,,
,,,,,,,,18.568,7.6,,
,,,,,,,,18.391,7.65,,
,,,,,,,,18.2083,7.7,,
,,,,,,,,18.0215,7.75,,
,,,,,,,,17.8324,7.8,,
,,,,,,,,17.6424,7.85,,
,,,,,,,,17.4527,7.9,,
,,,,,,,,17.2646,7.95,,
,,,,,,,,17.0791,8,,
,,,,,,,,16.8971,8.05,,
,,,,,,,,16.7195,8.1,,
,,,,,,,,16.5468,8.15,,
,,,,,,,,16.3797,8.2,,
,,,,,,,,16.2188,8.25,,
,,,,,,,,16.0643,8.3,,
,,,,,,,,15.9166,8.35,,
,,,,,,,,15.776,8.4,,
,,,,,,,,15.6426,8.45,,
,,,,,,,,15.5165,8.5,,
,,,,,,,,15.3979,8.55,,
,,,,,,,,15.2866,8.6,,
,,,,,,,,15.1826,8.65,,
,,,,,,,,15.0859,8.7,,
,,,,,,,,14.9963,8.75,,
,,,,,,,,14.9137,8.8,,
,,,,,,,,14.8378,8.85,,
,,,,,,,,14.7684,8.9,,
,,,,,,,,14.7053,8.95,,
,,,,,,,,14.6483,9,,
,,,,,,,,14.5971,9.05,,
,,,,,,,,14.5514,9.1,,
,,,,,,,,14.511,9.15,,
,,,,,,,,14.4755,9.2,,
,,,,,,,,14.4446,9.25,,
,,,,,,,,14.4181,9.3,,
,,,,,,,,14.3957,9.35,,
,,,,,,,,14.3771,9.4,,
,,,,,,,,14.3619,9.45,,
,,,,,,,,14.35,9.5,,
,,,,,,,,14.3411,9.55,,
,,,,,,,,14.3349,9.6,,
,,,,,,,,14.3311,9.65,,
,,,,,,,,14.3296,9.7,,
,,,,,,,,14.33,9.75,,
,,,,,,,,14.3322,9.8,,
,,,,,,,,14.336,9.85,,
,,,,,,,,14.3411,9.9,,
,,,,,,,,14.3474,9.95,,
,,,,,,,,14.3547,10,,
m_value,M_value,L_value,g_value,d_value,b_value,theta_cmd,theta_0,F_value,t0
1,1000,4,-10,1,1,0,2.8,,
,,,,,,,,0,0
,,,,,,,,-62223.7,0.05
,,,,,,,,-60941,0.1
,,,,,,,,-57621.3,0.15
,,,,,,,,-54213.4,0.2
,,,,,,,,-50802,0.25
,,,,,,,,-47411.1,0.3
,,,,,,,,-44060.7,0.35
,,,,,,,,-40768.2,0.4
,,,,,,,,-37549,0.45
,,,,,,,,-34416.3,0.5
,,,,,,,,-31381.5,0.55
,,,,,,,,-28454.3,0.6
,,,,,,,,-25642.4,0.65
,,,,,,,,-22952.3,0.7
,,,,,,,,-20388.8,0.75
,,,,,,,,-17955.6,0.8
,,,,,,,,-15655,0.85
,,,,,,,,-13488.3,0.9
,,,,,,,,-11455.9,0.95
,,,,,,,,-9557.06,1
,,,,,,,,-7790.41,1.05
,,,,,,,,-6153.84,1.1
,,,,,,,,-4644.61,1.15
,,,,,,,,-3259.42,1.2
,,,,,,,,-1994.54,1.25
,,,,,,,,-845.816,1.3
,,,,,,,,191.212,1.35
,,,,,,,,1121.28,1.4
,,,,,,,,1949.32,1.45
,,,,,,,,2680.43,1.5
,,,,,,,,3319.81,1.55
,,,,,,,,3872.71,1.6
,,,,,,,,4344.41,1.65
,,,,,,,,4740.17,1.7
,,,,,,,,5065.21,1.75
,,,,,,,,5324.66,1.8
,,,,,,,,5523.57,1.85
,,,,,,,,5666.83,1.9
,,,,,,,,5759.22,1.95
,,,,,,,,5805.35,2
,,,,,,,,5809.65,2.05
,,,,,,,,5776.37,2.1
,,,,,,,,5709.58,2.15
,,,,,,,,5613.13,2.2
,,,,,,,,5490.68,2.25
,,,,,,,,5345.68,2.3
,,,,,,,,5181.38,2.35
,,,,,,,,5000.8,2.4
,,,,,,,,4806.79,2.45
,,,,,,,,4601.97,2.5
,,,,,,,,4388.77,2.55
,,,,,,,,4169.42,2.6
,,,,,,,,3945.96,2.65
,,,,,,,,3720.27,2.7
,,,,,,,,3494.02,2.75
,,,,,,,,3268.73,2.8
,,,,,,,,3045.77,2.85
,,,,,,,,2826.32,2.9
,,,,,,,,2611.46,2.95
,,,,,,,,2402.09,3
,,,,,,,,2199.01,3.05
,,,,,,,,2002.89,3.1
,,,,,,,,1814.27,3.15
,,,,,,,,1633.61,3.2
,,,,,,,,1461.27,3.25
,,,,,,,,1297.5,3.3
,,,,,,,,1142.48,3.35
,,,,,,,,996.321,3.4
,,,,,,,,859.058,3.45
,,,,,,,,730.668,3.5
,,,,,,,,611.071,3.55
,,,,,,,,500.14,3.6
,,,,,,,,397.705,3.65
,,,,,,,,303.557,3.7
,,,,,,,,217.457,3.75
,,,,,,,,139.138,3.8
,,,,,,,,68.3074,3.85
,,,,,,,,4.65789,3.9
,,,,,,,,-52.1347,3.95
,,,,,,,,-102.405,4
,,,,,,,,-146.497,4.05
,,,,,,,,-184.756,4.1
,,,,,,,,-217.534,4.15
,,,,,,,,-245.179,4.2
,,,,,,,,-268.038,4.25
,,,,,,,,-286.453,4.3
,,,,,,,,-300.76,4.35
,,,,,,,,-311.288,4.4
,,,,,,,,-318.354,4.45
,,,,,,,,-322.267,4.5
,,,,,,,,-323.325,4.55
,,,,,,,,-321.813,4.6
,,,,,,,,-318.004,4.65
,,,,,,,,-312.158,4.7
,,,,,,,,-304.521,4.75
,,,,,,,,-295.324,4.8
,,,,,,,,-284.789,4.85
,,,,,,,,-273.118,4.9
,,,,,,,,-260.505,4.95
,,,,,,,,-247.127,5
,,,,,,,,-233.148,5.05
,,,,,,,,-218.721,5.1
,,,,,,,,-203.984,5.15
,,,,,,,,-189.065,5.2
,,,,,,,,-174.078,5.25
,,,,,,,,-159.128,5.3
,,,,,,,,-144.306,5.35
,,,,,,,,-129.697,5.4
,,,,,,,,-115.371,5.45
,,,,,,,,-101.394,5.5
,,,,,,,,-87.8186,5.55
,,,,,,,,-74.6927,5.6
,,,,,,,,-62.0547,5.65
,,,,,,,,-49.9364,5.7
,,,,,,,,-38.3629,5.75
,,,,,,,,-27.3533,5.8
,,,,,,,,-16.9209,5.85
,,,,,,,,-7.07425,5.9
,,,,,,,,2.18305,5.95
,,,,,,,,10.8515,6
,,,,,,,,18.9352,6.05
,,,,,,,,26.4418,6.1
,,,,,,,,33.3819,6.15
,,,,,,,,39.7684,6.2
,,,,,,,,45.6168,6.25
,,,,,,,,50.9444,6.3
,,,,,,,,55.7698,6.35
,,,,,,,,60.1134,6.4
,,,,,,,,63.9962,6.45
,,,,,,,,67.4404,6.5
,,,,,,,,70.4685,6.55
,,,,,,,,73.1034,6.6
,,,,,,,,75.3684,6.65
,,,,,,,,77.2865,6.7
,,,,,,,,78.8809,6.75
,,,,,,,,80.1743,6.8
,,,,,,,,81.1891,6.85
,,,,,,,,81.9472,6.9
,,,,,,,,82.47,6.95
,,,,,,,,82.778,7
,,,,,,,,82.8912,7.05
,,,,,,,,82.8287,7.1
,,,,,,,,82.6089,7.15
,,,,,,,,82.2492,7.2
,,,,,,,,81.7662,7.25
,,,,,,,,81.1756,7.3
,,,,,,,,80.4922,7.35
,,,,,,,,79.7297,7.4
,,,,,,,,78.9013,7.45
,,,,,,,,78.0188,7.5
,,,,,,,,77.0935,7.55
,,,,,,,,76.1357,7.6
,,,,,,,,75.1548,7.65
,,,,,,,,74.1595,7.7
,,,,,,,,73.1576,7.75
,,,,,,,,72.1563,7.8
,,,,,,,,71.1617,7.85
,,,,,,,,70.1798,7.9
,,,,,,,,69.2153,7.95
,,,,,,,,68.2728,8
,,,,,,,,67.356,8.05
,,,,,,,,66.4681,8.1
,,,,,,,,65.6119,8.15
,,,,,,,,64.7895,8.2
,,,,,,,,64.0029,8.25
,,,,,,,,63.2533,8.3
,,,,,,,,62.5417,8.35
,,,,,,,,61.8688,8.4
,,,,,,,,61.235,8.45
,,,,,,,,60.6402,8.5
,,,,,,,,60.0843,8.55
,,,,,,,,59.5668,8.6
,,,,,,,,59.087,8.65
,,,,,,,,58.6443,8.7
,,,,,,,,58.2374,8.75
,,,,,,,,57.8655,8.8
,,,,,,,,57.5272,8.85
,,,,,,,,57.2212,8.9
,,,,,,,,56.9462,8.95
,,,,,,,,56.7007,9
,,,,,,,,56.4832,9.05
,,,,,,,,56.2922,9.1
,,,,,,,,56.1261,9.15
,,,,,,,,55.9835,9.2
,,,,,,,,55.8628,9.25
,,,,,,,,55.7624,9.3
,,,,,,,,55.6809,9.35
,,,,,,,,55.6169,9.4
,,,,,,,,55.5689,9.45
,,,,,,,,55.5355,9.5
,,,,,,,,55.5153,9.55
,,,,,,,,55.5072,9.6
,,,,,,,,55.5099,9.65
,,,,,,,,55.5221,9.7
,,,,,,,,55.5428,9.75
,,,,,,,,55.571,9.8
,,,,,,,,55.6056,9.85
,,,,,,,,55.6456,9.9
,,,,,,,,55.6903,9.95
,,,,,,,,55.7388,10