A robot-arm drive system for one joint can be represented by the differential equation

Chapter 0, Problem EX3.2

(choose chapter or problem)

A robot-arm drive system for one joint can be represented by the differential equation [8] dv(t) dt -kxv(t) - k2y(t) + k3i(t), where v(t) = velocity, y(t) = position, and i(t) is the control-motor current. Put the equations in state variable form and set up the matrix form for kx = k2 = 1.

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