al Model
To make it easier to stabilize the system a state spa
e model is derived. To get this model
the energy of the dierent obje
ts has to be
onsidered. At rst a xed
oordinate system is
introdu
ed (X,Y). Then an additional
oordinate system (x,y) whi
h rotates with the seesaw
is introdu
ed a
ording to gure 1.
x1
x2
h
c
X
Figur 1: The entire system.
The position of the rst art in the xed oordinate system is given by
1
_
Y_1 = hsin x1 _ x_ 1 sin: (4)
Hen
e
1
KEm1 = m1 ((x_ 1 + h_)2 + (x1 _)2 ): (7)
2
The kineti
energy of
art2 is derived in the same way and given by
1
KEm2 = m2 ((x_ 2 + h_)2 + (x2 _)2 ): (8)
2
The position of the
entre of mass of the pendulum in the xed
oordinate system is
Xp = hsin + x2
os + lsin( + ) (9)
Yp = h
os + x2 sin + l
os( + ): (10)
The velo
ity is given by the following expressions
_
X_ p = h
os _
x2 sin + l(_ + _)
os( + ) + x_ 2
os (11)
_
Y_ p = hsin _
x2
os l(_ + _)sin( + ) x_ 2 sin: (12)
Therefore, the kineti
energy of the pendulum is given by
1
KEp = mp vp 2 = fvp 2 = X_ p 2 + Y_p 2 g =
2
1
= mp (((h
os() x2 sin() + l
os( + ))_ + x_ 2
os() + l
os( + )_ )2 (13)
2
+ (( hsin() x2
os() lsin( + ))_ x_ 2 sin() lsin( + )_ )2 )
At last, the kineti
energy of the seesaw is given by
KEs = 0:5J (_)2 : (14)
2
The State Spa
e Model
0 1 0 1
x_ 1 x1
B
B _ C
C
B
B C
C
B
B x_ 2 C
C
B
B x2 C
C
B
B _ C B
C = A11 A12 B C
C + B1 F1
B C x_ 1 (27)
B x1 C A21 A22 B
B
C
C B2 F2
B
B C
C
B
B _ C
C
x2 A x_ 2 A
_
where
B1 = 04x2 (31)
2 J +m1 h2 h2
3
Jm1 J
6 h h 7
B2 = 6
6 h
J
2
J 2 7
J m2 h 7
+ (32)
4 J Jm2 5
h Ip hm2 J
J Jm2 Ip