JL*QL'' + BL*QL' + k(QL - Qm) = 0(adsbygoogle = window.adsbygoogle || []).push({});

Jm*Qm'' + Bm*Qm' - k(QL - Qm) = u

This is the equation set I have for a motor with a load.

QL'' means second derivative and QL' means first derivative.

I need to be able to obtain the state space representation of this model where X = [QL;QL';Qm;Qm'] (This is of course a column array)

I tried my best but couldn't obtain it.

Started off with QL' = [-JL*QL'' - k(QL - Qm)]/BL

But when I try to represent this, I don't have the QL'' term in my state variable array X, so couldn't proceed further.

How am I supposed to approach this problem ?

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# State space representation

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