TTK4130 Cheat Sheet

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Contents

The pdf should contain the most important formulas and concepts from the following lecture material.

Lecture	Topic	Reference in book	Reference in additional material
1	Introduction: What are models, what are simulations, notation	1.1, 14.1.1	1.1, 1.3, 1.4
2	System dynamics and differential equations.	1.2.1, 1.2.2, 1.2.3	1.5, 1.7
3	Vectors, reference frames and rotations	6.2, 6.3, 6.4
4	Rotations and Euler angles	6.4, 6.5
5	Angular velocities and accelerations	6.6.5, 6.7.1, 6.7.3, 6.8, 6.9.4
6	Velocities and accelerations	6.6.5, 6.7.1, 6.7.3, 6.8, 6.9.4
7	Angle axis, quaternions	6.6.5, 6.7.1, 6.7.3, 6.8, 6.9.4
8	Rigid body dynamics	6.12, 6.13.2
9	Rigid body dynamics	6.12, 6.13.2
10	Rigid body dynamics	7.2, 7.3.1-7.3.7
11	Lagrange mechanics	8.2	2
12	Lagrange mechanics	8.2	2
13	Lagrange mechanics	8.2	2
14	Lagrange mechanics	8.2	2
15	Differential-Algebraic Equations (DAEs)	14.12	5
16	Differential-Algebraic Equations (DAEs)	14.12	5
17	Differential-Algebraic Equations (DAEs)	14.12	5
18	Explicit simulation methods (intro, Euler, order, RK2, Butcher Tableau)		6
19	Explicit simulation methods (stage vs Order, stability function)		6
20	Implicit simulation methods (intro, IRK ,basic methods, stability function...)		3 (a little bit), 7
21	Implicit simulation methods (A-stability, L-stability, automatic step size...)		7
22	Integration of DAEs (via implicit and explicit methods)		7
23	Actuator dynamics and system modelling	3.1, 3.2, 3.3.1, 3.3.2, 3.5.1, 3.5.2
24	Actuator dynamics and system modelling	4.1, 4.2.1-4.2.5, 4.3
25	Actuator dynamics and system modelling

The table above is a the lecture plan for TTK4130 spring 2023