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34 Introduction to Control Theory
Figure 2.3.2: Van der Pol Oscillator Time Trajectories: (a) Time history, (b) phase
plane.
In this example, we will concentrate on writing the n coupled differential
equations into a state-space form. In fact, let a state vector x be
and the input vector be u=τ and suppose the output vector is y= q. Due to
some special properties of rigid robots (see Chapter 2), the matrix M(q) is
Copyright © 2004 by Marcel Dekker, Inc.
