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model SecondOrderSystem "A second order rotational system"
type Angle=Real(unit="rad");
type AngularVelocity=Real(unit="rad/s");
type Inertia=Real(unit="kg.m2");
type Stiffness=Real(unit="N.m/rad");
type Damping=Real(unit="N.m.s/rad");
parameter Inertia J1=0.4 "Moment of inertia for inertia 1";
parameter Inertia J2=1.0 "Moment of inertia for inertia 2";
parameter Stiffness c1=11 "Spring constant for spring 1";
parameter Stiffness c2=5 "Spring constant for spring 2";
parameter Damping d1=0.2 "Damping for damper 1";
parameter Damping d2=1.0 "Damping for damper 2";
Angle phi1 "Angle for inertia 1";
Angle phi2 "Angle for inertia 2";
AngularVelocity omega1 "Velocity of inertia 1";
AngularVelocity omega2 "Velocity of inertia 2";
initial equation
phi1 = 0;
phi2 = 1;
omega1 = 0;
omega2 = 0;
equation
// Equations for inertia 1
omega1 = der(phi1);
J1*der(omega1) = c1*(phi2-phi1)+d1*der(phi2-phi1);
// Equations for inertia 2
omega2 = der(phi2);
J2*der(omega2) = c1*(phi1-phi2)+d1*der(phi1-phi2)-c2*phi2-d2*der(phi2);
end SecondOrderSystem;
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