Se65

|Pago Hoh
youv
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Usimg qiven deti iti on

n-w= (v- w)(v- w)

= (v1- wT)(-w)

|vpw)lv-w2 = 2V2 t 21 wu2

Let

St Tw V

From T(Tw) = o

keyl1°)= kulT)
ke T
 A-AL det Chzeq.
55
5
1 -2
A
keaT?) kesci)
Usingaskumphion
Let
ays) (alw kea) kealT)c Now
alsoveTw
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geoseke ltipliaby is deined as dim lher(A-A1))

AA1=

L5 5
Let be R

55 4

-2a
Sutsht 4c

so jeahor CA)=[o]=vN

-5
ox s
A7

Aaain v be ybiloy vecdes

NE ke (A51La

55 o

-2a-4b
5arSb

-a>bo

dim (ke (H-53))

4. m CAs5)=L
 let

(m)detfo
554
-5

MNestiyle -2

5b14c5
b

-2

enealise
cvcato v
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youva
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obscve

1 D

Sondan nomal orm a

(AA) be positive -defi te

?AV )' =

Scalat
(J1Av)= AV

From
VAV

2v'Av 0
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et

Addi

v1(A t AT) o

posihue semi-deljite
5.

Initial Conditions:

• X=0
• x' = 0
• theta = pi/1800
• theta' = 0

Non-linear Model

Linear Model

It can be observed that for a small time duration (~0.5s) linear model gives a close approximation for
the plots. The basic reason being till that time theta is sufficiently small, so our approximation of sine
and cosine holds valid. Also, till this point, second order term is also practically negligible.