T_Sy = 0.5 * m_S * (r_S * diff(phi_y,t))^2 + 0.5 * I_S * diff(phi_y,t)^2; v_Uy_x = r_S * diff(phi_y,t) + l_U * cos(theta_y) * diff(theta_y,t); v_Uy_z = -l_U * sin ...
% 1. Derives the equations of motion for the ballbot in both the Y-Z % (pitch) and X-Z (roll) planes using the Lagrangian method. % 2. Includes all external forces (motor torques) and dissipative ...
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