Derive_acrobot.m
- derivation of equations of motion using Matlab symbolic toolbox.MAIN_passiveSimulate.m
- runs a simulation of the system (as a double pendulum)
All files with the prefix autoGen_
are created by the symbolic toolbox, and are optimized (non human-readable) code
Every one of these files has another file with a matching name that provides a help file and unpacks the vector and struct inputs.