MEM255Su06-07.7b.StateSpace_studs

MEM255Su06-07.7b.StateSpace_studs - Dr. Ajmal Yousuff Dept....

Info iconThis preview shows page 1. Sign up to view the full content.

View Full Document Right Arrow Icon
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: Dr. Ajmal Yousuff Dept. MEM Drexel University Bungee Jumping Yousuff MEM255 Intro 2 Control 2 q m k qr && mq + kq = kqr level road q (t ) = Q sin(t + ) & q (t ) = Q cos(t + ) Yousuff MEM255 Intro 2 Control 3 A : (n,n) & x2 = q x(t) x q 1 define states as x = U = Bu x & x q 2 m x1 = q B : (n,m) Xn C : (k,n) k x m Bu u x m 1 1 G55555555 H D : (k,m) A : X X u2 x2 G n rows G K B : U X 3 m columns u C : X Y 3 x G M D : U Y M M Y Yousuff MEM255 Intro 2 Control 4 I. 10 states, 5 inputs, 3 outputs A:(10,10), B:(10,5), C:(3,10), D:(3,5) {position, velocity, acceleration of car; net stretching of tire} k = 4; (n = 2, m = 1). II. Car example: variables of interest 1 0 C= -k / m 1 Yousuff 0 0 0 1 D= ; k / m 0 0 -1 5 MEM255 Intro 2 Control ...
View Full Document

Ask a homework question - tutors are online