MATLAB, the mathematical model of a single inverted pendulum. Do it. If you don't know what it means, just say how to convert the equation into matlab.
Y={(f/m)+l*(θ。 *θ).*sin(θ)-g*sin(θ)。 *cos(θ)}。 /M/m+sin(θ)。 2
Point operation between arrays; Constants and constants, constants and arrays use ordinary operations.