State Space Representation

𝟏
𝒙̈ = (𝒄𝒐𝒔ø 𝒔𝒊𝒏𝚹 𝒄𝒐𝒔 ѱ + 𝒔𝒊𝒏ø 𝒔𝒊𝒏 ѱ ) 𝒎 U1

𝟏
𝒚̈ = (𝒄𝒐𝒔ø 𝒔𝒊𝒏𝚹 𝒔𝒊𝒏 ѱ − 𝒔𝒊𝒏ø 𝒄𝒐𝒔 ѱ ) 𝒎 U1

𝟏
𝒛̈ = −𝒈 + (𝒄𝒐𝒔ø 𝒄𝒐𝒔𝚹) 𝒎 U1

𝑰𝒚−𝑰𝒛 𝑰𝒓 𝒍
ø̈ = 𝚹̇ѱ̇( ) − 𝑰𝒙 𝚹̇Ωr +𝑰𝒙 U2
𝑰𝒙

𝑰𝒛−𝑰𝒙 𝑰𝒓 𝒍
𝚹̈ = ø̇ѱ̇( 𝑰𝒚 ) + 𝑰𝒚 ø̇Ωr +𝑰𝒚 U3

𝑰𝒙−𝑰𝒚 𝑰𝒓
ѱ̈ = ø̇𝚹̇( 𝑰𝒛 ) + 𝑰𝒛U4

Standard State Space Representation:

𝒙̇ =f(x,u)
Given the state vector:
x = [ø ø̇ 𝚹 𝚹̇ ѱ ѱ̇ z 𝐳̇ x 𝐱̇ y 𝐲̇ ]T=[x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12]T
And the input vector:
u = [U1 U2 U3 U4]

x2
x4 x6 a1+ x4 a2 Ωr+ b1 U2
x4
x2 x6 a3+ x2 a4 Ωr+ b2 U3
x6
𝒙̇ = f(x,u) = x2 x4 a5+ b3 U4
x8
𝟏
-g+(cos x1cosx3) 𝒎 U1
x10
𝟏
ux U1
𝒎
x12
𝟏
uy 𝒎 U1

ux=cos(x1)sin(x3)cos(x5)+sin(x1)sin(x5);
uy=cos(x1)sin(x3)cos(x5)-sin(x1)cos(x5);