FORMULAS AND PROCEDURES FOR NONLINEAR CONTROL SYSTEMS
Computational Companion v3.0.01 - ONE-SYSTEM EDITION

ONE benchmark plant is used throughout:
  theta_dot = omega
  omega_dot = -b*omega - sin(theta) + u
(normalized inertia and gravity coefficient).

Every file repeats the plant in one clearly marked USER INPUT / SYSTEM DEFINITION
block so a reader can replace the nonlinear system in one place. Method-specific
settings are kept separately. The code is organized by handbook chapter.

Python is the executed reference implementation for Appendix K v3.0.01.
MATLAB and Julia files are readable companion translations and should be
cross-checked in the user's local environments before numerical equivalence is claimed.

Changing the plant can invalidate method assumptions. Numerical evidence does not
replace analytical proof.
