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Statespace

The document describes the state space representation of a dynamic system. It provides 12 state variables (x1-x12) and 4 input variables (U1-U4) to define the state vector x and input vector u. The state derivatives ẋ are expressed as functions f(x,u) of the states and inputs. Specifically, it presents the equations of motion for the system in terms of the state variables and inputs.

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MaryamRazzaq
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31 views2 pages

Statespace

The document describes the state space representation of a dynamic system. It provides 12 state variables (x1-x12) and 4 input variables (U1-U4) to define the state vector x and input vector u. The state derivatives ẋ are expressed as functions f(x,u) of the states and inputs. Specifically, it presents the equations of motion for the system in terms of the state variables and inputs.

Uploaded by

MaryamRazzaq
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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State Space Representation

𝟏
𝒙̈ = (𝒄𝒐𝒔ø 𝒔𝒊𝒏𝚹 𝒄𝒐𝒔 ѱ + 𝒔𝒊𝒏ø 𝒔𝒊𝒏 ѱ ) 𝒎 U1

𝟏
𝒚̈ = (𝒄𝒐𝒔ø 𝒔𝒊𝒏𝚹 𝒔𝒊𝒏 ѱ − 𝒔𝒊𝒏ø 𝒄𝒐𝒔 ѱ ) 𝒎 U1

𝟏
𝒛̈ = −𝒈 + (𝒄𝒐𝒔ø 𝒄𝒐𝒔𝚹) 𝒎 U1

𝑰𝒚−𝑰𝒛 𝑰𝒓 𝒍
ø̈ = 𝚹̇ѱ̇( ) − 𝑰𝒙 𝚹̇Ωr +𝑰𝒙 U2
𝑰𝒙

𝑰𝒛−𝑰𝒙 𝑰𝒓 𝒍
𝚹̈ = ø̇ѱ̇( 𝑰𝒚 ) + 𝑰𝒚 ø̇Ωr +𝑰𝒚 U3

𝑰𝒙−𝑰𝒚 𝑰𝒓
ѱ̈ = ø̇𝚹̇( 𝑰𝒛 ) + 𝑰𝒛U4

Standard State Space Representation:


𝒙̇ =f(x,u)
Given the state vector:
x = [ø ø̇ 𝚹 𝚹̇ ѱ ѱ̇ z 𝐳̇ x 𝐱̇ y 𝐲̇ ]T=[x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12]T
And the input vector:
u = [U1 U2 U3 U4]

x2
x4 x6 a1+ x4 a2 Ωr+ b1 U2
x4
x2 x6 a3+ x2 a4 Ωr+ b2 U3
x6
𝒙̇ = f(x,u) = x2 x4 a5+ b3 U4
x8
𝟏
-g+(cos x1cosx3) 𝒎 U1
x10
𝟏
ux U1
𝒎
x12
𝟏
uy 𝒎 U1

ux=cos(x1)sin(x3)cos(x5)+sin(x1)sin(x5);
uy=cos(x1)sin(x3)cos(x5)-sin(x1)cos(x5);

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