“…(2) (5) where U all is the overall transfer matrix of the MLRS; z all is a column matrix consisting of the state vectors of all system boundary points; U j ð j ¼ 2; 5; 8; 11; 14; 17; 21; 23Þ is the transfer matrix of the rigid body with single input end and single output; and U k (k = 1, 3,4,6,7,9,10,12,13,15,16,18,20,22) is the transfer matrix of the acceleration hinge. Their detailed expressions and the corresponding parameters can be found in Rui et al 27 Substituting the boundary conditions of the MLRS…”