¨ θ

˙ θ

\sqrt{\frac{κ}{I}}

¨ θ

˙ θ

(ω_{d}t)

(τ_{0}) / I

α_{0}

\sqrt{(ω_{0}^{2} − ω_{d}^{2})^{2} + (γω_{d})^{2}}

α_{0}^{2} (ω_{0}^{2} − ω_{d}^{2})^{2} + (γω_{d})^{2}

1 / (\sqrt{2})

1 / (\sqrt{2})