# Difference between revisions of "FAQ: In Example 5.3, why is the A matrix in the given form?"

From FBSwiki

Line 16: | Line 16: | ||

x = \begin{bmatrix} q \\ \dot q / \omega_0 \end{bmatrix} | x = \begin{bmatrix} q \\ \dot q / \omega_0 \end{bmatrix} | ||

\qquad\implies\qquad | \qquad\implies\qquad | ||

− | + | \frac{dx}{dt} = \begin{bmatrix} 0 & \omega_0 \\ -\omega_0 & 0 \end{bmatrix} x + | |

+ | \begin{bmatrix} 0 \\ 1/\omega_0 \end{bmatrix} u. | ||

</amsmath></center> | </amsmath></center> | ||

A similiar form can also be obtained by rescaling time by <math>\omega_0</math>, as described in Example 2.6. | A similiar form can also be obtained by rescaling time by <math>\omega_0</math>, as described in Example 2.6. | ||

}} | }} |

## Latest revision as of 21:30, 5 April 2008

(Contributed by R. M. Murray, 5 Apr 08)

In Example 5.3, we consider the state space representation of the model

If we choose the state vector to be then the dynamics matrix for the system is given by

which is different than the form listed. Instead, we can use a *normalized* set of coordinates

A similiar form can also be obtained by rescaling time by , as described in Example 2.6.