01. Training For New Users » 1_02 Simplify Tutorial of Python

 # -*- coding: utf-8 -*-

"""

Created on Thu Apr 25 23:36:44 2017

System Matrices

University of Sao Paulo

@author: Gabriel

"""

def Matrix(p, x0,u0):

    from numpy import *

    A = array([[-p[0]/(p[1]*p[2]), -(p[0]-p[1])*u0[0]*sin(p[7])/(p[1]*p[2]), 0],

                [(p[0]-p[1])*u0[0]*sin(p[7])/(p[1]*p[2]*(p[6]**2)), -(p[0]-p[1])*u0[0]*cos(p[7])/(p[1]*p[2]*p[6]), 1],

                 [-u0[0]*sin(p[7])/(p[3]*p[1]), -u0[0]*p[6]*cos(p[7])/(p[3]*p[1]), 0]])

    B = array([[(p[0]-p[1])*cos(p[7])/(p[1]*p[2])],

                [-(p[0]-p[1])*sin(p[7])/(p[1]*p[2]*p[6])],

                 [-p[6]*sin(p[7])/(p[1]*p[3])]])

    C = array([[-u0[0]*sin(p[7])/p[1], -u0[0]*p[6]*cos(p[7])/p[1], 0],

                [-u0[0]*cos(p[7])/p[1], u0[0]*p[6]*sin(p[7])/p[1], 0]])

    D = array([[2*p[4]*u0[0]-(p[6]*sin(p[7])/p[1])],

                [2*p[5]*u0[0]+(2*u0[0]-p[6]*cos(p[7]))/p[1]]])    

    return A, B, C, D