Mathematical Model of

Mechanical System
Week 03 Session 1
 Mechanical System
• Spring System
• Damper System
• Spring-mass System
• Inverted Pendulum System
 Spring System
• Spring system in parallel
 Spring System
• Spring system in series
 Damper System
• Damper system in parallel
 Damper System
• Damper system in series
 Spring-mass System
• Refer to Textbook (Example 3-3)
 Spring-mass System
• Refer to Textbook (Example 3-4)
 Inverted Pendulum System
• Refer to Textbook (Example 3-5)
 Inverted Pendulum System
• Refer to Textbook

The mass is concentrated at the top

of the rod, the center of gravity is the
center of the pendulum ball. For this
case I is small and assumed to be 0.

or