System Dynamics
System Dynamics
3rd Edition
ISBN: 9780073398068
Author: III William J. Palm
Publisher: MCG
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Chapter 2, Problem 2.59P

Use MATLAB to obtain the inverse transform of the following. If the denominator of the transform has complex roots, express x t in terms of a sine and a cosine. Hint: you will find it convenient to use the conv function to multiply two polynomials.

  1. X s = 5 s + 4 2 s + 1
  2. X s = 4 s + 9 s 2 + 6 s + 34 s 2 + 4 s + 20

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Use MATLAB
3. Use the second method of frame assignment, and find the Jacobian of the following robot using the velocity propagation method (Ignore all theta related offsets): 03 02 L2 01 Please answer the question precisely and completely to use the second method of frame assignment to find the D-H table [alpha (i-1) , a (i-1) , d (i) , theta (i)], and find the jacobian matrix using the velocity propagation method

Chapter 2 Solutions

System Dynamics

Ch. 2 - Prob. 2.11PCh. 2 - Obtain the inverse Laplace transform xt for each...Ch. 2 - Solve the following problems: 5x=7tx0=3...Ch. 2 - Solve the following: 5x+7x=0x0=4 5x+7x=15x0=0...Ch. 2 - Solve the following problems: x+10x+21x=0x0=4x0=3...Ch. 2 - Solve the following problems: x+7x+10x=20x0=5x0=3...Ch. 2 - Solve the following problems: 3x+30x+63x=5x0=x0=0...Ch. 2 - Solve the following problems where x0=x0=0 ....Ch. 2 - Invert the following transforms: 6ss+5 4s+3s+8...Ch. 2 - Invert the following transforms: 3s+2s2s+10...Ch. 2 - Prob. 2.21PCh. 2 - Compare the LCD method with equation (2.4.4) for...Ch. 2 - Prob. 2.23PCh. 2 - Prob. 2.24PCh. 2 - (a) Prove that the second-order system whose...Ch. 2 - For each of the following models, compute the time...Ch. 2 - Prob. 2.27PCh. 2 - Prob. 2.28PCh. 2 - Prob. 2.29PCh. 2 - If applicable, compute , , n , and d for the...Ch. 2 - Prob. 2.31PCh. 2 - For each of the following equations, determine the...Ch. 2 - Prob. 2.33PCh. 2 - Obtain the transfer functions Xs/Fs and Ys/Fs for...Ch. 2 - a. Obtain the transfer functions Xs/Fs and Ys/Fs...Ch. 2 - Prob. 2.36PCh. 2 - Solve the following problems for xt . Compare the...Ch. 2 - Prob. 2.38PCh. 2 - Prob. 2.39PCh. 2 - Prob. 2.40PCh. 2 - Determine the general form of the solution of the...Ch. 2 - a. Use the Laplace transform to obtain the form of...Ch. 2 - Prob. 2.43PCh. 2 - Prob. 2.44PCh. 2 - Obtain the inverse transform in the form xt=Asint+...Ch. 2 - Use the Laplace transform to solve the following...Ch. 2 - Express the oscillatory part of the solution of...Ch. 2 - Prob. 2.48PCh. 2 - Prob. 2.49PCh. 2 - Prob. 2.50PCh. 2 - Prob. 2.51PCh. 2 - Prob. 2.52PCh. 2 - Prob. 2.53PCh. 2 - 2.54 The Taylor series expansion for tan t...Ch. 2 - 2.55 Derive the initial value theorem: Ch. 2 - Prob. 2.56PCh. 2 - Prob. 2.57PCh. 2 - Use MATLAB to obtain the inverse transform of the...Ch. 2 - Use MATLAB to obtain the inverse transform of the...Ch. 2 - Use MATLAB to solve for and plot the unit-step...Ch. 2 - Use MATLAB to solve for and plot the unit-impulse...Ch. 2 - Use MATLAB to solve for and plot the impulse...Ch. 2 - Use MATLAB to solve for and plot the response of...
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