Laborat ory work nr.

Nonlinear dynamical models

1. The nonlinear dynamic equation for a pendulum is
given by
for the ideal model (i.e. no friction force):
ml mg sin ,
for the real model when the friction force resisting the
motion is proportional to the speed of the bob with a
coefficient of friction k ( k 0 , small)
ml mg sin kl ,
where l - length of the rod, m - mass of the bob, and is the angle subtended by the rod and
the vertical axis through the pivot point, see the next figure.
a. Choose appropriate state variables and write down the state equations.
b. Find all equilibria of the system.
c. Make a simulation model of the system in Simulink. Simulate the system from
various initial states. Is the system stable? Is the equilibrium point unique? Explain the
physical intuition behind your findings.
d. Use the linearization tools from Simulink to linearize the system around an
equilibrium point and analyze the linear model.
2. Solve exercises 1.1, 1.2, 1.3, 1.9 and 1.10 from (Khalil, 2002, page 24).