Derive a dynamic equation for this nonlinear system through the Lagrange Equation: W(a) + (W ...

 

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Derive a dynamic equation for this nonlinear system through the Lagrange Equation: W(a)ä + (W² — — Wa) à – T₁ = (ö). - Tg where the position vector q = () 3 W(q) = (¹- and the inertial matrix I₁+I2 + m₂(y² +r²) m₂r + 12 a m₂r + m₂ + The torque to drive the beam is considered to be the only input u of the system. Then, the second and third terms of the above dynamic equation become 12 a = m₂ (w7-w₁) - 1/2W₁) 4 - T₁ = 1 (2yoy q -yj² 050). This will than later be used to come up with the control system for the 2D model below. 12, M₂ 0 y r sin 0 + y cos 0 sin 0 - m₂g I₁₂ Derive a dynamic equation for this nonlinear system through the Lagrange Equation: W(a)ä + (W² — — Wa) à – T₁ = (ö). - Tg where the position vector q = () 3 W(q) = (¹- and the inertial matrix I₁+I2 + m₂(y² +r²) m₂r + 12 a m₂r + m₂ + The torque to drive the beam is considered to be the only input u of the system. Then, the second and third terms of the above dynamic equation become 12 a = m₂ (w7-w₁) - 1/2W₁) 4 - T₁ = 1 (2yoy q -yj² 050). This will than later be used to come up with the control system for the 2D model below. 12, M₂ 0 y r sin 0 + y cos 0 sin 0 - m₂g I₁₂

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