I have a dynamic model like below:
xddot = u1;
yddot=u1 tan (theta) + (xdot tan (theta) - ydot)
I want to convert it into the second order chained form as:
y1ddot = v1;
y2ddot = v2;
y3ddot = y2v1 + (additional terms)
hope someone can give an idea how to start to get the derivation in second order chained form pattern.
Thank you very much.