l14 - 16.06 Lecture 14 Quanser Model and State Transition...

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Unformatted text preview: 16.06 Lecture 14 Quanser Model and State Transition Matrices John Deyst October 6, 2003 Today’s Topics 1. State space model of the Quanser 2. Homogeneous solution of state D.E.s 3. State Transition matrices 1 Quanser State Space Model We will now model the Quanser in state space and we will use it as the example in many of our remaining developments. You developed the following transfer function to represent the Quanser where the output is the angle of the arm with respect to its nominal zero location and the input is voltage to the motor. Recall that damping is very small and here it is assumed to be zero. Define two states Also, from the transfer function we obtain a D.E. or 2 Hence our state D.E. is Also, we assume we have two outputs which are the angle and angular velocity The system block diagram is 3 Let’s determine the matrix transfer function From last time Now and so 4 General Time Domain Solutions We will now develop the general time domain solutions to the state space equations.equations....
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This note was uploaded on 11/06/2011 for the course AERO 100 taught by Professor Willcox during the Fall '03 term at MIT.

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l14 - 16.06 Lecture 14 Quanser Model and State Transition...

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