Linearized Model

[Marco Zanichelli]

Dear all,

I am working on the definition of a pendulum + cart problem in project chrono.

My end goal would be to define a state space system of the problem. Has someone done this before? Are there built-in function that could ease this task?

Thanks in advance

Marco

[chao peng]

Hi Marco,

Thanks to the implementation of the tangent stiffness matrix of constraints in ChLinkMateGeneric(), the mass and stiffness matrices for the inverted pendulum + cart problem are complete if ChLinkMateGeneric::SetUseTangentStiffness(true), then you need to build the state-space representation of the system by yourself. The generalized form of the state-space representation is preferred because of the present of the constraint Jacobian matrix (Cq).

Good luck!

Chao PENG