how to create a state space model of the differential drive robot

create a state space model of a differential drive robot considering the kinematics and dynamics of the robot are given.

[Walter Roberson]

http://www.mathworks.com/matlabcentral/answers/6200-tutorial-how-to-ask-a-question-on-answers-and-get-a-fast-answer

Answer 1

[Abhishek Nair]

The system you are considering here is non-linear. I would recommend you to first convert the system of second order differential equation into a system of first order differential equations. Now you can implement these differential equations in MATLAB using ode solver.

If you find modeling this non-linear system to be difficult, you could also attempt to simulate a locally linearized model (can be found in pieces of literature). A linear model like this one can be easily implemented in a state-space form using 'ss' command and furthermore, you can obtain responses from the system using 'lsim' command.

Luckily the system is stable by nature so you do not need a controller to stabilize the system responses.