clear

clc
k1=10;k2=20;
m1=0.5;m2=1;
A=[ 0
0
1
0

0
0
0
1

-(k1+k2)/m1
k1/m2
0
0

k1/m1
-k1/m2
0
0];

B=[ 0
1/m2
0
0 ];
C=[ 0
0

0
0

0
1

1
0

];

D=[ 0
0];
sys=ss(A,B,C,D)
%entrada f=2N
t=0:0.025:100;
u=2*ones(size(t));
[y t x]=lsim(sys,u,t)
figure(1)
plot(t,x(:,1),'r',t,x(:,2),'b')%velocidades
figure(2)
plot(t,x(:,3),'r',t,x(:,4),'b')%posicion
figure(3)
plot(t,y(:,1),'r',t,x(:,2),'b')%
%solucion espacio estado
I=[1
0
0
0
0
1
0
0
0
0
1
0
0
0
0
1];
X0=[0
0
0.5
0.6];
syms s
x1=inv(s*I-A)
%Entrada u=2
u=2/s
x2=(B*u+X0)
x=x1*x2

x1=ilaplace(x(1))
x2=ilaplace(x(2))
x3=ilaplace(x(3))
x4=ilaplace(x(4))

x1 =

[ (s*(s^2 + 10))/(s^4 + 70*s^2 + 400),

(60*s^2 + 400)/(s^4 + 70*s^2 + 400),

(20*s)/(s^4 + 70*s^2 + 400), (20*s^2)/(s^4 + 70*s^2 + 400)]

[
(10*s)/(s^4 + 70*s^2 + 400), (s*(s^2 + 60))/(s^4 + 70*s^2 + 400),
(10*s^2)/(s^4 + 70*s^2 + 400), -(10*s^2 + 400)/(s^4 + 70*s^2 + 400)]
[
(s^2 + 10)/(s^4 + 70*s^2 + 400),
(s*(s^2 + 10))/(s^4 + 70*s^2 + 400),

20/(s^4 + 70*s^2 + 400),

(20*s)/(s^4 + 70*s^2 + 400)]

[
10/(s^4 + 70*s^2 + 400),
(s^2 + 60)/(s^4 + 70*s^2 + 400),
(10*s)/(s^4 + 70*s^2 + 400), (s*(s^2 + 60))/(s^4 + 70*s^2 + 400)]

u=

2/s

x2 =

0
2/s
1/2
3/5

x=

40/(s^4 + 70*s^2 + 400) - (60*s^2 + 400)/(2*(s^4 + 70*s^2 +

400)) + (12*s^2)/(s^4 + 70*s^2 + 400)
(2*(s^2 + 60))/(s^4 + 70*s^2 + 400) - (3*(10*s^2 + 400))/(5*(s^4 + 70*s^2
+ 400)) + (5*s^2)/(s^4 + 70*s^2 + 400)
(12*s)/(s^4 + 70*s^2 + 400) + 40/(s*(s^4 + 70*s^2 + 400)) +
(s*(s^2 + 10))/(2*(s^4 + 70*s^2 + 400))
(5*s)/(s^4 + 70*s^2 + 400) + (2*(s^2 + 60))/(s*(s^4 + 70*s^2 + 400)) +
(3*s*(s^2 + 60))/(5*(s^4 + 70*s^2 + 400))

x1 =

- 18*sum((r3*exp(r3*t))/(4*(r3^2 + 35)), r3 in RootOf(s3^4 + 70*s3^2 + 400,

s3)) - 160*sum(exp(r3*t)/(4*(r3^3 + 35*r3)), r3 in RootOf(s3^4 + 70*s3^2 +
400, s3))

x2 =

sum((r4*exp(r4*t))/(4*(r4^2 + 35)), r4 in RootOf(s4^4 + 70*s4^2 + 400, s4)) 120*sum(exp(r4*t)/(4*(r4^3 + 35*r4)), r4 in RootOf(s4^4 + 70*s4^2 + 400,
s4))

x3 =

10*sum(exp(r5*t)/(4*(r5^2 + 35)), r5 in RootOf(s5^4 + 70*s5^2 + 400, s5)) +

(2*sum((r5^2*exp(r5*t))/(4*(r5^2 + 35)), r5 in RootOf(s5^4 + 70*s5^2 + 400,
s5)))/5 + 1/10

x4 =

22*sum(exp(r6*t)/(4*(r6^2 + 35)), r6 in RootOf(s6^4 + 70*s6^2 + 400, s6)) +

(3*sum((r6^2*exp(r6*t))/(4*(r6^2 + 35)), r6 in RootOf(s6^4 + 70*s6^2 + 400,
s6)))/10 + 3/10

Luego ingresamos al Simulink

Y como artificio se asigna a la matriz C la matriz identidad y a a D la
cantidad necesaria para la multiplicacion y/o suma matricial

En la imagen inferior se ingresan los verdaderos valores de C y D