clearclck1=10;k2=20;m1=0.5;m2=1; A=[ 0 0 -(k1+k2)/m1 k1/m1 0 0 k1/m2 -k1/m2 1 0 0 0 0 1 0 0]; B=[ 0 1/m2 0 0 ]; C=[ 0 0 0 1 0 0 1 0 ]; D=[ 0 0]; sys=ss(A,B,C,D)%entrada f=2Nt=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 estadoI=[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=2u=2/sx2=(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), (20*s)/(s^4 + 70*s^2 + 400), -(60*s^2 + 400)/(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), 20/(s^4 + 70*s^2 + 400), (s*(s^2 + 10))/(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 SimulinkY 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