Lecture 2 Contra systems

testry lineurity
ex:
m dv = -cv +f
dt
in dr
de

m dv₂ == CV₂ + F₂
de
= -C v₁ +
Input
in d (vitv₂) == C(v₁ + √₂) + f 3
de
VI
V3
mdr3 = - cv₂tfs.
de
ex 2 :
f₁ + f2
+
if Imear, super position halk
cup vit
16
~J, L
52²6 - T _my 2/₂2 sm G
dc²
dues super positun hold2
J2²6₁ = T₁ - my ko smo,
dE2
JJ²E² -T₂ - my 1/2 smt₂.
dez
test if super posilm has
T₁+T₂-2
To in uence & to
match Gree
Daud
-> G₁ HE₂
# 0₁ +6₂ -2not linam.
fl
fi
J2²61
d6² +Jd² 6₂
262
T3
Ja ² (E₁ +6₂) T3 -mg + sm (G₁+6₂) -> not ok
2
dez
J1² (G₁+6₂)
de2
if G. and O₂ are small el 1c²
8 61₂0,
5m₂ = G₂
ex:4
J1² (G₂) = 73 - my h2 63
dt
max =P- Pd
step!

step2
= Titiz -my // smo, -mg //
2
For
3
= T₁+T₂ - myL (6₁ + 0₂)
T3
3
Pd=v²
dray
andr = f₁ -cr₁²
de
2x + 'x
-> mdr = f- cu²
de
non Iver system
√²+√₂² £ vitr₂) ²
md( vitra) = P₁tf₂ - cri² -_ cr₂²
de
(2x+ 1x)ms + (2x) us+ (17) ms
T
mdv₂ = P₂ - CU₂²
de
# (x₁+ y₂) ³
son 02
-critv₂)² ->cant do
given

ex
app ew
dy²
dx
12 dependent varrable/ epfect
all you care apat is dependent variable.
of does not effect
linearity
To test Imearly, all dependent variables must apper in
Inew form, withat non Imhear functions
Constant
1) non homs genews driver / ext input I carro
mú = P- cv²
- V² is non linear
J & T-mgh/ sm Oc dep var nen Imear
step var
dy + 3x = sm (SE)
dx usinder var
+3x=8m (st)
-Imear
- 2 hon liner
dy + 3xy = x sm (5E) -> Imeir
dx
y
dy + 3x = sm (596) -JNL, am (sgt)
dx
2
now to Imearize
mú = P - CE²
lineuze
+60
slep!
u na lyze

ý zo
my z f
around
->Vo
futAR!
deme det en relatay At to Dr
2
-Cu²
e quilib condition.
V = Vo
equilibrium speed of vo= constant
u = f _ cv₁² -> fo = cu ²
t=0+
f = Pot of
small
Perterbation must be small
perterbation
v = v₁ + Or ~> V = Ov
mv = f-cr²
+=0+
(x₁+ 0x²) = x₂ ²
V = V₂ + DV
76 farag
small
-> plug in valves from above.
mov = fot of - c (rotor) ²
Step 3: taylor expansion on NL teams: quadratic term
n(x) 2x²
+ Ax(2x)
h ( xo+ Dx) ~ h (x0) + Dxd4 /= + (1x)² √²h
dx
2!
LX
for small Ax
step 4
m Dv = fo + Of - c(v.₂² +2AV. √₂)
linew
Imea
recuk Fo= cv. ²
môi chẻ tốt - chỉ c20v.v
MD³v = Af = 2C vo ov
ß
mov=DP-Bov
müzf- cv²
Pe
rotor
JOP
26
móv=of - BAU
of 30
Fud proplam: given the app
Of-AV
Inv problem / control problem.
Av=0 what shald of be
dre DV to 2cro my regulating of
-> E
I
(2²-24) = =//

7(4
ms² X (s) = F(s) - k X (s) -> laplace form
mx = f-kx
Linear spring
ms² +12) transfer ne
Sx= P.L
K
sx
F
> TF
fi