m1 = 49/1000;
m2 = 31/1000;
l1 = 0.5;
l2 = 0.5;
M = 1; % mlower/ m upper
l = 100/100; %lu/ l lower
A = (-9.8/1.0)*[(-(l + M*l +M)) M ; 1 -1]; % g/ l lower
w = eig(A);
[Aa,Bb] = eig(A);
omg = sqrt(w);
fre = omg/(2*pi);
nA = 1* A;
%nA = [2 -1; -1 2];
wn = eig(nA);
[S, V]= eig(nA);
syms x(t)
coslam = [(cos(sqrt(V(1,1))*t)) 0 ; 0 (cos(sqrt(V(2,2))*t))];
sinlam = [(sin(sqrt(V(1,1))*t)) 0 ; 0 (sin(sqrt(V(2,2))*t))];
Solu = (S*coslam*(inv(S))*[1/100 ;1/100]) + (S* sinlam* (sqrtm(inv(V)))*(inv(S))*[0;0]);
Solufcn = matlabFunction(Solu)
hold on
t = linspace (0,10,1000000);
Solv = Solufcn(t)
y1 = Solv(1,:);
y2 = Solv(2,:);
plot(t,y1, t,y2)
title (['Plot of y_{1}(t) and y_{2}(t) of the pendulum' ...
' l2 = 1m, M =0.6327, L= 1'])
grid
xlabel ('Time (s)')
ylabel('Distance(m)')
legend('y1(t)','y2(t)')
.
