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Converting a nonlinear eqn of motion to a state-space model

  1. Feb 6, 2019 #1
    1. The problem statement, all variables and given/known data
    upload_2019-2-7_0-3-21.png
    equations above are descriptive of a system with two configuration variables, q1 and q2. inputs are tau1 and tau2. d and c values are given.
    the question is about conversion of above equations to a state-space equation where the state-variables are x1 = q1_dot, x2 = q1_2dot, x3 = q2_dot, x4 = q2_2dot.

    2. Relevant equations

    3. The attempt at a solution
    Since variables q1 and q2 are coupled in the equations of motion, so I haven't been able to come up with a way to decouple them and makes a state-state equation. Any insights on this would very much be appreciated.
     
  2. jcsd
  3. Feb 11, 2019 at 2:36 PM #2
    What are g1 and g2?
     
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