For the simple pendulum shown in Figure E3.20, the nonlinear equations of motion are
Chapter 0, Problem EX3.20(choose chapter or problem)
For the simple pendulum shown in Figure E3.20, the nonlinear equations of motion are given by e + f- sin e + e = o, L m where g is gravity, L is the length of the pendulum, m is the mass attached at the end of the pendulum (we assume the rod is massless), and k is the coefficient of friction at the pivot point. (a) Linearize the equations of motion about the equilibrium condition 6 = 0", (b) Obtain a state variable representation of the system. The system output is the angle 6.
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