Assignment 5 B–3–5. Referring to Examples 3–5 and 3–6, consider the inverted-pendulum system shown in Figure 3–34. Assume that the mass of the inverted pendulum is m and is evenly distributed along the length of the rod. (The center of gravity of the pendulum is located at the center of the rod.) Assuming that u is small, derive mathematical models for the system in the forms of differential equations, transfer functions, and state-space equations.
2 ·· 𝑑 ·· ·· 𝑀𝑥 + 𝑚 𝑑𝑡 𝑥 + 𝑚𝑙(𝑐𝑜𝑠θ)θ − 𝑚𝑙(𝑠𝑖𝑛θ)θ = 𝑢 ·· .. ·· ·· 𝑀𝑥 + 𝑚𝑥 + 𝑚𝑙(𝑐𝑜𝑠θ)θ − 𝑚𝑙(𝑠𝑖𝑛θ)θ = 𝑢 ·· ·· 𝑥 (𝑀 + 𝑚) + 𝑚𝑙θ = 𝑢 B–3–6. Obtain the transfer functions X1(s)/U(s) and X2(s)/U(s) of the mechanical system shown in Figure 3–35. B–3–7. Obtain the transfer function Eo(s)/Ei (s) of the electrical circuit shown in Figure
