The nonlinear equations of motion

Reference no: EM131125711

For the simple pendulum shown in Figure E3.20, the nonlinear equations of motion are given by

where g is gravity, L is the length of the pendulum, m is the mass attached at the end of the pendulum (we assume the rod is massless), and k is the coefficient of friction at the pivot point.

(a) Linearize the equations of motion about the equilibrium condition θ = 0°,

(b) Obtain a state variable representation of the system. The system output is the angle θ.

Reference no: EM131125711

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