Does NonlinearStateSpaceModel work with symbolic constants?

Question

I'm trying to put a nonlinear system of two 2nd order ODEs given by:

eqs = 
{2 (k1 + k2) q1[t] - 2 k2 q2[t] + 2 c1 Derivative[1][q1][t] + 
   2 c2 (Derivative[1][q1][t] - Derivative[1][q2][t]) + 
   l1 (g m2 Sin[q1[t]] + g m3 Sin[q1[t]] + 
      l2 m3 Sin[q1[t] - q2[t]] Derivative[1][q2][t]^2 + 
      l1 (m2 + m3) (q1^\[Prime]\[Prime])[t] + 
      l2 m3 Cos[q1[t] - q2[t]] (q2^\[Prime]\[Prime])[t]) == 
  l1 f[t] Sin[q1[t] - q2[t]], 
 2 k2 q2[t] + 2 c2 (-Derivative[1][q1][t] + Derivative[1][q2][t]) + 
   l2 m3 (g Sin[q2[t]] - 
      l1 Sin[q1[t] - q2[t]] Derivative[1][q1][t]^2 + 
      l1 Cos[q1[t] - q2[t]] (q1^\[Prime]\[Prime])[t] + 
      l2 (q2^\[Prime]\[Prime])[t]) == 2 k2 q1[t]}

Into a nonlinear state space formulation, which I know can be done without linearization of 2nd order terms since

Solve[eqs, {q1''[t], q2''[t]}]

returns how to isolate these double slashed variables. However, when I try to

sys = NonlinearStateSpaceModel[
  eqs, {q1[t], q2[t], q1'[t], q2'[t]}, {}, {q1[t], q2[t], q1'[t], 
   q2'[t]}, t]

to obtain $\mathbf{\dot{x}} = f(\mathbf{x})$ (that is, to make it a 4-row system of 1st order ODEs), it won't express it in terms of undefined $m_{i},l_{i},k_{i},c_{i},g$. If I end up defining these as numerical values, I can get the desired column vector ((4,1) matrix) even if the $f(t)$ in the first equation remains an undefined function of t.

I can't see why couldn't Mathematica handle the symbolic constants, since I suppose it would do almost the same algebraic manipulations.

Is it possible? Thanks in advance.

Answer 1

There appears to be two issues.

First, you need to specify $f[t]$ as an input.

Second, terms such as the ones below are not same.

SameQ[(q1^′′)[t], Derivative[2][q1][t]]

False

After those two fixes, you get an answer.

eqs = {2 (k1 + k2) q1[t] - 2 k2 q2[t] + 2 c1 Derivative[1][q1][t] + 
2 c2 (Derivative[1][q1][t] - Derivative[1][q2][t]) + 
l1 (g m2 Sin[q1[t]] + g m3 Sin[q1[t]] + 
   l2 m3 Sin[q1[t] - q2[t]] Derivative[1][q2][t]^2 + 
   l1 (m2 + m3) Derivative[2][q1][t] + 
   l2 m3 Cos[q1[t] - q2[t]] Derivative[2][q2][t]) == 
l1 f[t] Sin[q1[t] - q2[t]], 
2 k2 q2[t] + 2 c2 (-Derivative[1][q1][t] + Derivative[1][q2][t]) + 
l2 m3 (g Sin[q2[t]] - 
   l1 Sin[q1[t] - q2[t]] Derivative[1][q1][t]^2 + 
   l1 Cos[q1[t] - q2[t]] Derivative[2][q1][t] + 
   l2 Derivative[2][q2][t]) == 2 k2 q1[t]}


NonlinearStateSpaceModel[%, {q1[t], q2[t], q1'[t], q2'[t]}, {f[t]}, {q1[t], q2[t], q1'[t], q2'[t]}, t]