pipeline.md

Converting taut cable to code

For current state of $\alpha$, $r$ and $\theta$, we can obtain them using Eqn 4

• $u_{T}$ = $\bar{T} + mg sin α +mρu_3$
• $u_α = m (2 \dot{r}\dot{α} + g cos α) - mr (k^P α (α − \bar{α}) + k^D\dot{\alpha})$

Using Eqn 17,

and values of $u_T$ $u_α$ and $α$, find $\theta_C$

Find $u_3$ from Eqn 12

From Eqn 20, find $u_1$

Using Eqn 24, get the value of $u_2$