Homework Statement
I am given the following coupled differential equations:
\begin{align}
(r^2+1)\ddot{θ}+2r\dot{r}\dot{θ} &= u1\\
\ddot{r}-r\dot{θ}^2&=u2
\end{align}
together with the following expression for the kinetic energy:
\begin{align}
T &= 0.5(r^2+1)\dot{θ}^2+0.5\dot{r}^2...