jlinaresve
Electrical
- Jun 15, 2017
- 1
Hello. I want to represent a mechanical system in state space form. It is a see-saw like device with a motor and propeller attached to the longer end, and a counterweight attached to the shorter end. When the motor spins the propeller the longer end rises. I have to control the position (height). When writing the equations I end up with:
theta=angular position
(angular momentum)=Sin(theta)(-90.8621+1.4797 u -fg+fc)/(moment of inertia)
(angular velocity)=d(angular position)/dt
My states are angular position and angular velocity.
My problem is my input is multiplied by one of my states(angular position) and when writing it in matrix form I don't know how to separate u and the state theta(angular position). What is the best solution to solve this problem?
theta=angular position
(angular momentum)=Sin(theta)(-90.8621+1.4797 u -fg+fc)/(moment of inertia)
(angular velocity)=d(angular position)/dt
My states are angular position and angular velocity.
My problem is my input is multiplied by one of my states(angular position) and when writing it in matrix form I don't know how to separate u and the state theta(angular position). What is the best solution to solve this problem?
