(adsbygoogle = window.adsbygoogle || []).push({}); 1. The problem statement, all variables and given/known data

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.

**Physics Forums | Science Articles, Homework Help, Discussion**

Dismiss Notice

Join Physics Forums Today!

The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

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

Have something to add?

**Physics Forums | Science Articles, Homework Help, Discussion**