I have pantograph simulation on simulink. The dynamic model of the system is given as a C code. So the input is torque and output is motor angles and velocities.(adsbygoogle = window.adsbygoogle || []).push({});

I need to build a QLR controller and to do so I need to come up with state space model of the system, right ?

I have the following equation of motion;

M(q)q'' = H(q,u) + Bf(q)Fext + Torque

where M and Bf are 2x2 matrices and H is 2x1

My states would be q1,q2,q1',q2' where q1' and q2' are the joint velocities.

But I don't know how can I obtain the state space model when my equation of motion consists of matrices

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# Linear Quadratic Regulator

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