Precision Machine Dynamics/Mechatronics Design - 15

State Space Solution - Time Domain Analysis

Starting with the equations of motion in state space, we will use Laplace transforms to discuss the theoretical solution to the time domain problem. We will define and discuss two methods of calculating the matrix exponential. Then we will use a sdof forced system with position and velocity initial conditions to illustrate the technique. The closed form solution for our tdof example problem with step forces applied to all three masses and with different initial conditions for each mass is too complicated to be shown so we will use only MATLAB for its solution.

Matrix Laplace Transform - with Initial Conditions

With state equations in general form, taking the matrix Laplace transform of