modelRotationalSMD
State space version of a rotational spring-mass-damper system
Extends from LTI (Equations written in ABCD form where matrices are also time-invariant).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Real | J1 | 0.4 | |
| Real | J2 | 1.0 | |
| Real | c1 | 11 | |
| Real | c2 | 5 | |
| Real | d1 | 0.2 | |
| Real | d2 | 1.0 | |
| Integer | nx (from LTI) | 0 | Number of states |
| Integer | nu (from LTI) | 0 | Number of inputs |
| Integer | ny (from LTI) | 0 | Number of outputs |
| Real[nx,nx] | A (from LTI) | fill(0, nx, nx) | |
| Real[nx,nu] | B (from LTI) | fill(0, nx, nu) | |
| Real[ny,nx] | C (from LTI) | fill(0, ny, nx) | |
| Real[ny,nu] | D (from LTI) | fill(0, ny, nu) | |
| Real[nx] | x0 (from LTI) | fill(0, nx) | Initial conditions |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Real[nx] | x (from LTI) | State vector | |
| Real[nu] | u (from LTI) | Input vector | |
| Real[ny] | y (from LTI) | Output vector |