massSpringDamper

dynamic equations for the mass-spring-damper benchmark model

Contents

Syntax

f = massSpringDamper(x, u, w)

Description

Dynamic equation for the mass-spring-damper benchmark model. The benchmark represents a rigid body that is coupled to the environment by a spring and a damper, where both the stiffness of the spring and the damping of the damper are nonlinear functions of the rigid body position. The system states are the position and the velocity of the rigid body. The input to the system is an external force acting on the rigid body

Input Arguments

x

system states x (dimension: [nx,1])

u

control inputs u (dimension: [nu,1])

w

disturbances w (dimension: [nw,1])

Output Arguments

f

value of the dynamic function = time derivative of x

See Also

car, doubleIntegrator, robot


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