Update Inverted_Pendulum_Pole_Placement.ipynb

add angular displacement to the linearized output model

Author: xchen-me

Notebooks/Inverted_Pendulum_Pole_Placement.ipynb

@@ -1103,7 +1103,7 @@
     "\n",
     "A = np.array([[0,1,0,0],[0,-d/M,-m*g/M,0],[0,0,0,1],[0,-d/(M+L),-(m+M)*g/(M+L),0]])\n",
     "B = np.array([[0],[1/M],[0],[1/(M*L)]])\n",
-    "C = np.array([1,0,0,0])\n",
+    "C = np.array([[1, 0, 0, 0], [0, 0, 1, 0]])\n",
     "D = np.array([0])\n",
     "Q = np.matrix([[1,0,0,0],[0,1,0,0],[0,0,10,0],[0,0,0,100]])\n",
     "R = 0.0001\n",