Exercise Session 3 (with solutions) Alessandro Abate Summary: sc4026 Exercise Session 3 (with solutions) Alessandro Abate a.abate@tudelft.nl Pawel Stano p.m.stano@tudelft.nl Delft Center for Systems and Control, TU Delft September 29, 2011 ­ Ac.Yr. 2011/12, 1e Sem. Q1 ­ Exercise Session 3 ­ sc4026 A. Abate, P. Stano Linearization Example In the following diagram, we have a ball of mass m swinging on a mass-less, perfectly rigid rod of length l. The ball is attached by a spring to a mass-less and friction-less cart, whose only purpose is to keep the spring horizontal with the ball. There is a torque input applied at the base of the rod (point A). !"#\$%&"'%(")#!*+%,-.\$/! !"!#\$%!&'((')*"+!,*-+.-/0!)%!\$-1%!-!2-((!'&!/-33!!!3)*"+*"+!'"!-!/-33"(%330!4%.&%5#(6!.*+*,!.',! '&!(%"+#\$!"7!!8\$%!2-((!*3!-##-5\$%,!26!-!34.*"+!#'!-!/-33"(%33!-",!&.*5#*'""(%33!5-.#0!)\$'3%!'"(6! 49.4'3%!*3!#'!:%%4!#\$%!34.*"+!\$'.*;'"#-(!)*#\$!#\$%!2-((7!!8\$%.%!*3!-!#'.<9%!*"49#!# !-44(*%,!-#!#\$%! Collections: Engineering