Are we allowed to use free body diagrams in dynamic systems where there is non-negligible friction in say the rotational pivot between two linkages? If so, how to incorporate friction into the equations of motion? If not, what method allows friction to be accounted for?
Hi All,
My goal is to relearn some control theory and implement a working inverted pendulum on a cart with an industrial linear motor. See video:
Working through an example of an inverted pendulum on a cart posted here...
Trying to model friction of a linear motor in the process of creating a state space model of my system. I've found it easy to model friction solely as viscous friction in the form b * x_dot, where b is the coefficient of viscous friction (N/m/s) and x_dot represents the motor linear velocity...