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SYSTEM
N −1 N −1
1 X 2 1 X 2
L= q̇k − (qk+1 − qk ) with q0 = qN = 0. (1)
2 2
k=1 k=0
πkl
(l)
Qk = N Al cos(ωl t + δl ) sin ,
N
πkl
≡ N Al (t) sin , l = 1, . . . , N − 1. (2)
N
frequency and Al and δl are the amplitude and initial phase angle respectively. N
get:
N −1 N −1
X 1 2 1 X πkl
q̇k = N 2 Ȧ2l (t) sin2 ,
2 2 N
k=1 k=1
N −1
1 2 2 2 2 X πkl
= N ωl Al sin (ωl t + δl ) sin2 , (3)
2 N
k=1
N −1 −1
πl 2 NX
1 X 2 1 2 2 πkl
(qk+1 − qk ) = N Al (t) 2 sin cos2 . (4)
2 2 2N N
k=0 k=0
The sums can be carried out as follows: Using cos2 x = (1+cos 2x)/2, sin2 x = (1−
N −1 N −1 2πlk
X πkl X 1 + Re ei N N
cos2 = = , (5)
N 2 2
k=0 k=0
N −1 πkl N −1 πkl N −1 πkl
X
2
X
2
X
2 N
sin = sin = 1 − cos = . (6)
N N N 2
k=1 k=0 k=0
Hence,
−1 N −1
N
" #
1 2 1 X
πl 2
2N
X 2 2 2
q̇ − (qk+1 − qk ) = N Ȧl (t) − Al (t) 2 sin . (7)
2 k 2 4 2N
k=1 k=0
p
Choosing N = 2/N and ωl = 2 sin(πl/2N ), we end up with
1 2 1
L= Ȧ (t) − ωl2 A2l (t). (8)
2 l 2
orthogonal. Hence, substituting the above equation into Eq. (1), we end up with
N −1
X 1 2 1 2 2
L= Ȧ (t) − ωl Al (t) . (10)
2 l 2
l=1