Faculty of Electrical Engineering

MEM 1743
Modelling and simulation of Dynamic Systems

Assignment I

Simplified Modelling and Simulation of Double Pendulum Based On

Matlab

Lecturer:
December, 2011

Modelling and Simulation of an Inverted Double Pendulum

1.0

Description

The inverted Pendulum, is a pendulum which has its mass above its pivot point, it is
implemented with pivot point mounted on a cart that can move horizontally and called a
CART and POLE (as shown in the diagram below).
An inverted Pendulum is inherently unstable and must be actively balanced in order to remain
upright by either applying a torque at the pivot or by moving the pivot point horizontally as
part of a feedback system.
Generally the inverted pendulums are widely used as a benchmark for testing control
algorithm; the inverted pendulum is also applied in many industrial and engineering products
such as high-precision control of robot arm, stability control of launching rocket, and attitude
control of satellite.

Fig 1. The Simple pendulum system

1.1

The Article Description:

The paper main aim is to show the relationship between controllability and parameters of the
system. The paper is based on the modelling of the double pendulum on a cart using Newtons
Laws of motion and linearised on an approximately small angle.
However we modelled the using the Lagranges Equation hence the difference in the
differential equations obtained.

Fig 2. The Simplified Double Pendulum system

1.2

Modelling and Parameters definition;

M is mass of trolley; is its displacement; F is the force exerted on trolley; and are
the mass of left and right rocker; 2 and 2 are the length of rockers; 1 and 2 are the

inertia moment of rockers; and are the angle between rockers and the vertical direction.

In the following we derive the differential equations which describe the dynamics of the
inverted pendulum system use Lagranges equation. Two rockers have similar situation.
The kinetic energy of cart is:

The kinetic energy of the left bob is

2 =

where

So that

1 =

1
2
2

1
( 2 + 12 )
2 1 1

1 = + 21 1 , 1 = 21 1
1 = + 21 1 1 , 1 = 21 1 1

The kinetic energy of the right bob is

1
3 = 2 (22 + 22 )
2

so that

2 = + 22 2 , 2 = 22 2

2 = + 22 2 2 , 2 = 22 2 2

Therefore, the total kinetic energy is

= 1 + 2 + 3

1
1
1
2 + 1 2 + 4 1 1 1 + (21 )2 12 + 2 ( 2 + 2 2 22 2+ (22 )2 22 )
2
2
2

The potential energy is equivalent to:

The Lagrange equation

1
2

= 1 + 2 = 1 21 1 + 2 22 2
= =
1

2 + 1 2 + 2 1 21 1 + (21 )2 12 + 2 2 + 2 2 22 2 + (22 )2 22
2

1 21 1 2 22 2 ;

The generalized coordinates are selected as = [ 1 2 ] so that Lagranges equations are

=0
1
1

1) =

=0
2
2

= 0;

= 1 + 21 1 1 1 + 2 + 22 2 2 2 +

1 1 12 21 1 + 21 1 1 1 + 2 2 22 22 2 + 22 2 2 2 +

1 1 12 21 1 + 21 1 1 1 + 2 2 22 22 2 + 22 2 2 2 + =

2) = 1

= 21 1 1 21 1 1
1

= 21 1 1 + 421 1 1
1

= 21 1 1 21 1 1 1 + 421 1 1
1

=0
1
1

21 1 1 21 1 1 + 421 1 1 21 1 1 + 21 1 1 = 0
2) = 2

21 1 1 + 421 1 1 21 1 1 = 0

= 22 2 2 22 2 2
2

= 22 2 2 + 422 2 2
2

= 22 2 2 22 2 2 + 422 2 2
2

=0
2
2

22 2 2 22 2 2 + 422 2 2 22 2 2 + 22 2 2 = 0
22 2 2 + 422 2 2 22 2 2 = 0

We derive the nonlinear equation

1 1 12 21 1 + 21 1 1 1 + 2 2 22 22 2 + 22 2 2 2 + =
21 1 1 + 421 1 1 21 1 1 = 0

22 2 2 + 422 2 2 22 2 2 = 0

With the parameters defined from the article as below;

= 1.5 , 1 = 0.5, 2 = 0.5, = 9.8, 1 = 0.8, 2 = 0.8 substituting these parameters into the
above 3 equations.

1 1 12 21 1 + 21 1 1 1 + 2 2 22 22 2 + 22 2 2 2 + =
21 1 1 + 421 1 1 21 1 1 = 0

22 2 2 + 422 2 2 22 2 2 = 0

Simplifying the above equations,

( + 1 + 2 ) 1 12 21 1 + 21 1 1 1 2 22 22 2 + 22 2 2 2 = ..eqn1

21 1 1 + 421 1 1 21 1 1 = 0

22 2 2 + 422 2 2 22 2 2 = 0

..eqn2

..eqn3

= 1.5 , 1 = 0.5, 2 = 0.5, = 9.8, 1 = 0.8, 2 = 0.8

2.5 0.812 1 + 0.81 1 0.822 2 + 0.82 2 = ..eqn4

0.8 1 + 1.281 7.841 = 0 ..eqn5

0.8 2 + 1.282 7.842 = 0 ..eqn6

= 0.3212 1 0.321 1 + 0.3222 2 0.322 2 + 0.4()

1 = 0.625 1 + 6.1251

2 = 0.625 2 + 6.1252

Using a unit step input as the force F(t).

.eqn8

.eqn9

.eqn7

2.0

SIMULATION RESULTS AND GRAPHS

Fig 3. The Step response of the model (Non-linear model) with different scopes

Fig 4. The Step response of the model displacement (Non-linear model)

Fig 5. The Step response of the model rocker 1 pivot angle (Non-linear model)

Fig 6. The Step response of the model rocker 2 pivot angle (Non-linear model)

Fig 7. The simulation block for model (Non-linear) one scope

lengend
Step response
curve of
trolley
displacement
Step response
curve of the
two rocker
pivot angle

Fig 8. The Step response of the model (Non-linear model)

3.0

Linearization of the Non-linear model

Linearization of the non linear model

= 0.3212 1 0.321 1 + 0.3222 2 0.322 2 + 0.4
1 = 0.625 1 + 6.1251

2 = 0.625 2 + 6.1252

Linearizing the above model we obtain linear model to be

Sin 1 1 , sin 2 2 , cos 1 = 1, cos 2 = 1,
x = 0.321 0.322 + 0.4 F (t )

1 = 0.625x + 6.1251
2 = 0.625x + 6.125 2

Assuming that 1 2 is very small, then the linearised model is as below,

x = 0.321 0.322 + 0.4 F (t )

1 = 0.625x + 6.1251
2 = 0.625x + 6.125 2

The simulation model of the linear model using simulink

Fig 9. The Simulink of the model (Linear model)

lengend
Step response
curve of
trolley
displacement
Step response
curve of the
two rocker
pivot angle

Fig 10. The Step response of the model (Linear model)

4.0

Discussion on the accuracy of the results

From the results obtained in the simulation of the non-linear and linear model obtained from
our modelling and that of the results of the article, its shows that our model are accurate
representation of the model as the modelled in the article.
As side the difference in the techniques used in the modelling (the use of the Lagrange as
against Newtons Equation) we obtain an accurate model which can be used in the
verification of the objective of the article.
However if the linearization tent is extended beyond the very small angle for pivot the system
becomes very unstable and hence the pendulum will fall from the inverted position.