Formula Sheet for Dynamical Systems

Cylindrical Coordinates: Jacobian Matrix:

 x y z  r
r   e  ze v  q  q i
qi
j
qi
k  
 t
i

z
i 1, 2 i

v   e  e  ze  r  r
v   q     x x 
z

a  (    )e  (   2)e  ze  q  t  q q 

i
2
i

 
z

r
1 2

y y 
v  Jq  J 
t
i
 q q 
 z z 
1 2

 
 q 1
q 
2

Rotation Matrices:

1 0 0 
Rot ( x, )  0 C  S 
Z
 
0 S C 
roll
 C 0 S 
Rot ( y, )   0 1 0 
 
 S 0 C 
yaw Y
C  S 0
Rot ( z, )   S C 0 pitch
 0 0 1 X
D’Alembert Principle: Virtual Power:
v
 F a
 ma  •
r
0  F a
 ma  . 0
j
qi q
j
i

Lagragian formulation: 1st Order equations:

d L L R L L R
  0 pi  p i   0
dt q q q q i qi q i

Hamilton approach: Obtaining first order equations from

Bond Graphs:
L H
pi  q i  I element: p  e
q i pi
H R
p i    C Element: q  f
qi q i