Free Body Diagram

Solution
The system equation:

=
= + =
+ + = 0

State space:
+ + () = ()
2 + 2 + 1 =
The system is second order, so
1 = 2 {

2 =

1 () = ()
2 () = ()

1
1
( ) + ()

In term of x
2 =

1 2

1 = 2 =

In vector matrix form:

1
0
[ ] = [

1
1
0
] [2 ] + [1 ]

Output equation:
1
= [1 0] [ ]
2
= +
= +
Where
0
= [

1
]

0
= [1 ]

= [1 0]
=0

From state space equation,

The transfer function:
1 )1 +

() = (

0
0
= [1 0] {[
] [

0
= [1

= [

0] [

1 1
] =

1 1 0
]} [1 ] + 0

1 1 0
] [1 ]

+
1

2 + +

1
]

Transfer function:

+
1

() = [1 0] =
[

2 + +

1
0
] [1 ]

1
2 + +

Transfer function using Laplace

() + () + () = () ____________(1)
{()} = ()
{ ()} = () (0)
{ ()} = 2 () (0) (0)
Substitute Laplace equation into (1)
[ 2 () (0) (0)] + [() (0)] + () = ()
()[ 2 + + ] = ()
()
1
=
2
() + +
() =
=

()
+ ()
()

1
+ +