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COntrol System Question
Posted:
May 22, 2000 12:05 PM


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Hello all,
Im currently doing a project on nonlinear control systems and I need someone to just verify the derivation of the equation below.
[Image]I need to verify the derivation of the final equation using T and U applied into the EulerLagrange equation. phi ' represents the derivative of phi.
Also another matter is on how to convert the following equation into a state space linear model.
[Image] where phi '' is the second derivative of phi and L' the first derivative of L. The method will go about in assigning x1=phi, x2=phi ' and then doing the state space transformation into x'=Ax + bU where x are the state variable matrices.
Thank you very much for any help you can offer.
Yours, Sri Kumar Kanajan
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<!doctype html public "//w3c//dtd html 4.0 transitional//en"> <html> Hello all, <p>Im currently doing a project on nonlinear control systems and I need someone to just verify the derivation of the equation below. <p><img SRC="cid:part1.39295AB2.5E0413FF@doc.ic.ac.uk" height=222 width=437>I need to verify the derivation of the final equation using T and U applied into the EulerLagrange equation. phi ' represents the derivative of phi. <p>Also another matter is on how to convert the following equation into a state space linear model. <p><img SRC="cid:part2.39295AB2.5E0413FF@doc.ic.ac.uk" height=62 width=173> where phi '' is the second derivative of phi and L' the first derivative of L. The method will go about in assigning x1=phi, x2=phi ' and then doing the state space transformation into x'=Ax + bU where x are the state variable matrices. <p>Thank you very much for any help you can offer. <p>Yours, <br>Sri Kumar Kanajan <br> </html>
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