From Essentials of Mechatronics
8.1 DIFFERENTIAL EQUATIONS
8.1.1 Breaking Down the State Equations
In Section 6.6, we saw how a system could be described by a matrix state
equation of the form
in which there are several simultaneous first-order equations.
We have looked at an example where
and we could consider applying feedback
In matrix form these equations are
We can eliminate v from the two equations to get the “conventional” form of
a single second-order differential equation
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