Matrices PDF
Matrices PDF
Matrices PDF
rfg1798
November 2020
1 Introduction
m 0 0 0
0 m 0 0
M=
0
(1)
0 M 0
0 0 0 I/L2
c1 0 −c1 c1 (a/L)
0 c2 −c2 −c2 (b/L)
C=
−c1
(2)
−c2 c1 + c2 −c1 (a/L) + c2 (b/L)
c1 (a/L) −c2 (b/L) −c1 (a/L) + c2 (b/L) (c1 a2 + c2 b2 )/L2
k1 + k3 0 −k1 k1 (a/L)
0 k2 + k4 −k2 −k2 (b/L)
K=
−k1
(3)
−k2 k1 + k2 −k1 (a/L) + k2 (b/L)
k1 (a/L) −k2 (b/L) −k1 (a/L) + k2 (b/L) (k1 a2 + k2 b2 )/L2
k3 z1(t)
k4 z2(t)
F(t) =
0
(4)
0
1
x1
x2
X=
x3 (5)
Lθ
23.04 0 0 0
0 44.25 0 0
ωn =
0
(rad/s) (6)
0 138.53 0
0 0 0 188.82
3.67 0 0 0
0 7.04 0 0
ωn =
0
(Hz) (7)
0 22.05 0
0 0 0 30.05
−0.1394 0.5851 0.2251 0.4900
−0.5904 −0.1381 0.9534 −0.1157
Φ= −0.5780 0.0471 −0.1461 −0.0509
(8)
−0.5458 −0.7978 −0.1379 0.8625