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mech_pdf.book Page 39 Tuesday, February 1, 2005 1:57 PM
Linearizing Mechanical Models
Then linearize the model and use minreal to eliminate the redundant states:
[A,B,C,D] = linmod('mech_four_bar_lin',x,u);
[a,b,c,d] = minreal(A,B,C,D);
leaving two states, α and dα/dt. The component a(2,1) = -80.0873 < 0, indicating
that this natural equilibrium is stable. The linearized motion is governed by
d2α/dt2 = a(2,1)*α.
See “Open-Topology Linearization: Double Pendulum” on page 8-29 for more
about the linearized state space representation.
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