16.61 Aerospace Dynamics Spring 2003 Generalized forces revisited Derived Lagrange s equation from d'Alembert's equation ∑m(8x+16y+22)=∑(Fx+F+F。=) Define virtual displacements sx Substitute in and noting the independence of the 8q,, for each

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Lecture #4 16.61 Aerospace Dynamics Extension to multiple intermediate frames(two) Copyright 2002 by Jonathan How

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EROSPACE DYNAMiCS EXAMPLE: GWE ACCELERATIoN of THE TIP 0F认ERU0毛R人TM5Hc人AF LDk小 G For A650LUT # CCELER升T10 N UTH RES/∈ct T0wE工NERT1 AL FRAME (∈ TH IN THiS CASE) 0EFNE兵8uNcH0 f PoINTS

EROSPACE DYNAMiCS EXAMPLE: GWE ACCELERATIoN of THE TIP 0F认ERU0毛R人TM5Hc人AF LDk小 G For A650LUT # CCELER升T10 N UTH RES/∈ct T0wE工NERT1 AL FRAME (∈ TH IN THiS CASE) 0EFNE兵8uNcH0 f PoINTS

Using control authority to transform nonlinear models into linear ones is one of the most commonly used ideas of practical nonlinear control design. Generally, the trick helps one to recognize \simple\nonlinear feedback design tasks

Lyapunov analysis, which uses monotonicity of a given function of system state along trajectories of a given dynamical system, is a major tool of nonlinear system analysis It is possible, however, to use monotonicity of volumes of subsets of the state space to predict certain properties of system behavior. This lecture gives an introduction to suc methods

12.1 Systems with controllable linearizations A relatively straightforward case of local controllability analysis is defined by systems with controllable linearizations 12.1.1 Controllability of linearized system Let To: 0, THR, uo: 0, T]H Rm be a