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‫Welcome back, sir, to achieve the state space form here, that's super easy.

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‫You have this equation here, right?

3
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‫You take this correction factor here and you put it on the other side of the equation sine and that's

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‫what you get.

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‫And now you just take the inverse of this mass and mass movement of inertia matrix.

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‫This is the inverse here in red.

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‫And you apply it.

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‫To both sides of the equation sign so that here will give you a six by six identity matrix, which is

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‫one in the Matrix world, so actually you don't have to write it down.

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‫And that's the equation that you're left with.

11
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‫And here you go.

12
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‫This is a very compact form for your state's basic equations.