Matlab code

The Laplace Transform (assuming zero initial conditions) would be X;)[m, s +95 + kr + k)] F(s) + kuX:() XxG)(mys? + 3 + (ki+k)] = k1X;() Setting two Polynomials, P, and P, to be P, = [m,s? +675 + (kor + kz)] Pa = mys? + cas + (kuz+ku)] The Laplace Transforms can be rewritten as X()= F($)+k2X=(3) x.() x XOR =P )+kx0) => x69[: - kg FC kazy or Substituting the second equation, Xz(s) into the first equation gives... ,)F(s P: X () P2 F(S) PAP-kizku. Substituting back into the X (s) equation gives... k12 F(S): X (8) PRP - kiska X2(3) kz Or FS PP2-k1212 Tran Summarizing the Transfer Function become... X;(8) P2 P21(s) F(8) PP - kzk Tra X (3) ki: Tran P22(8) F(3) PAP, - kazki Trax again with P1 = |mys? +678 + (kor + kz) Pa = [m252 +225 + (ku+ka) Note: P..(s) refers to the Plant's Transfer Function for Disk 1 in the 2 DoF Setup The built-in function tf() can be used to represent a Transfer Function, SYS=10/125 +10 +12). with the following code. Note: this is presented in further detail in the Background section SYS-10712-82-10-12) Write a brief script setting the values of mi=m2-1 C1=C2=1 K01=0 K12=100 and 23-10 then create the Transfer Function P21. The Laplace Transform (assuming zero initial conditions) would be X;)[m, s +95 + kr + k)] F(s) + kuX:() XxG)(mys? + 3 + (ki+k)] = k1X;() Setting two Polynomials, P, and P, to be P, = [m,s? +675 + (kor + kz)] Pa = mys? + cas + (kuz+ku)] The Laplace Transforms can be rewritten as X()= F($)+k2X=(3) x.() x XOR =P )+kx0) => x69[: - kg FC kazy or Substituting the second equation, Xz(s) into the first equation gives... ,)F(s P: X () P2 F(S) PAP-kizku. Substituting back into the X (s) equation gives... k12 F(S): X (8) PRP - kiska X2(3) kz Or FS PP2-k1212 Tran Summarizing the Transfer Function become... X;(8) P2 P21(s) F(8) PP - kzk Tra X (3) ki: Tran P22(8) F(3) PAP, - kazki Trax again with P1 = |mys? +678 + (kor + kz) Pa = [m252 +225 + (ku+ka) Note: P..(s) refers to the Plant's Transfer Function for Disk 1 in the 2 DoF Setup The built-in function tf() can be used to represent a Transfer Function, SYS=10/125 +10 +12). with the following code. Note: this is presented in further detail in the Background section SYS-10712-82-10-12) Write a brief script setting the values of mi=m2-1 C1=C2=1 K01=0 K12=100 and 23-10 then create the Transfer Function P21