The motion control of a lightweight hospital transport vehicle can be represented by a
Chapter 0, Problem AP11.9(choose chapter or problem)
The motion control of a lightweight hospital transport vehicle can be represented by a system of two masses, as shown in Figure API 1.9, where m\ - m2 = 1 and kv = k2 = 1 [21]. (a) Determine the state vector differential equation, (b) Find the roots of the characteristic equation, (c) We wish to stabilize the system by letting u = kx,, where u is the force on the lower mass, and x, is one of the state variables. Select an appropriate state variable .vy. (d) Choose a value for the gain k and sketch the root locus as k varies.
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