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INTRODUCCIN:
Q
{u ( )} = [ ] {q ( )}
t
u1( t ) 11 12
u 2 ( t ) = 21 22
u
3( t ) 31 32
13 q1( t )
23 q 2( t )
33 q 3( t )
u j( t ) = jr q r ( t )
r =1
donde:
[M ]* = [ ]T [M ][ ]
[K ]* = [ ]T [K ][ ]
[C]* = [ ]T [C][ ]
{p(t )}* = []T {p(t )}
M1
..
*
[M ] =
Mn
..
M N
M n = { n } [M ]{ n }
T
C1
..
*
[C] =
Cn
..
C N
C n = { n } [C]{ n }
T
K1
..
*
[K ] =
Kn
..
K N
K n = { n } [K ]{ n }
T
[p( ) ]
P1
..
= Pn
..
PN
Pn = { n } {p n ( t ) }
T
M n &q& n ( t ) + C n q& n ( t ) + K n q n ( t ) = Pn ( t )
&q& n ( t ) + 2 n n q& n ( t ) + q n ( t ) =
2
n
Pn ( t )
Mn
{u ( )} = [ ] {q ( )}
t