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Homework Statement
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 statespace equation where the statevariables are x1 = q1_dot, x2 = q1_2dot, x3 = q2_dot, x4 = q2_2dot.
Homework Equations
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 statestate equation. Any insights on this would very much be appreciated.
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