Hi,ahh thank you sir! i think this seems to showcase a case of NEwtons second law where M and m is the masses of the equipment whereas p is to mimic restrictive forces? i.e friction? Unfortunately i am unsure of what j could be....
Additionally sir, what should be my approach to solving for equilibrium point? Do i apply Laplace transformation to the derivatives and equate them to zero? t
Thank you for your reply sir!
ahhh, thank you sir for your reply! I was browsing through my lecture notes and saw the free-body diagram that my lecturer referenced to.
View attachment 174387
I am still unsure of how to proceed with regards to the steps to find the equilibrium point and linear model. However, I am unsure of what my first step should be. Should I first change the derivatives through laplace? following that how do i proceed?
I am assuming equilibrium point is where left side equation is equal to the right side of the equation?
Thank you so much again for all your help and I look forward to solving the question with your help!
Hi Sir, unfortunately i am not quite sure what you were saying. However, i found some references online that seemed to showcase them solving a similar case, albeit different constants. I have worked it out for the equilibrium point and have attached it here for your reference if you see anything wrong with it. I am still unsure of why the lecture question (sadly on my end) suddenly introduces a J variable which is not defined in the free body diagram.. weird....Hi,
Oh so it's the inverted pendulum cart
The way you could do this is to first linearize the trig functions. For example:
sin(a)=a (approximately)
and maybe:
cos(a)=1-sin(a)/20=1-a/20
They proceed maybe with state variables, you know that idea?
by Jake Hertz
by Jake Hertz