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MSFanimation

Scope

Mux

B/M

S-Function

Step

K/M

( ) 32 ( )t u t

1

s

Sum

1

s

XY Graph

1/M Integrator2Integrator1

x1x2Displacement

Velocity

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mg

l

T

sinmg T

1

s

1( )x t1

s

B m

1sin ( )g

x tl

2 1( ) ( )x t x t 2 ( )x t

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B/m

1

s

Inte PenAnimation

Theta

Mux

S-Function

Fcn

Sum

1

s

x2 x1

XY Graph

9.81/0.613*sin(u)

Integrator2grator1

omega

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DeltaStep

x1

1 ( )u t

1

s

Sum

1

s

Gain integr 2integ 1

30

35.6*sin(u)

15*sin(u)

Saturation

x'1=x2x'2

0c

t td d

ct td d f

4

mg

l

T

u

x

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x Ax Bu

y Cx Du

Theta

x

Demux

State-SpaceIn 1

Out 1

1

2

Terminator 2

Terminator 1

Demux

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Plant

nK

( )u t

2K

1K

Plant

( )n

x t

1( )x t2( )x t

"

( )y t

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x Ax Bu y Cx Du

theta

Demux

State-Space

In 1

Out 1

1

2

Demux

(4)K

(1)K

(2)K

(3)K

( ) ( )u t Kx t

State feedback

using pole-placement design1K

2K

3K

4K

Sum

x