Pendulum System with Relative Degree Two

Model description: 

Consider the pendulum system with the relative degree two

$$\begin{align*} \dot{x}_{1} &= x_{2}\\ \dot{x}_{2} &= -cx_{2}-d\sin x_{1}+u \\ y &= x_{1} \end{align*}$$

with $c > 0$.

Type: 

Form: 

Model order: 

2

Time domain: 

Linearity: 

Publication details: 

TitleNonlinear sampled-data models and zero dynamics
Publication TypeConference Paper
AuthorsNishi, M., Ishitobi M., and Kunimatsu S.