Dynamic Modeling and Analysis of Inverted Pendulum using Lagrangian-Differential Transform Method

Abstract

There has been an increase in application of pendulum in robotics which is applicable in Medicine, Agriculture, Military, Industries Explorations and Entertainment. Many Researchers have shown interest in inverted pendulum stability and control in recent years. This study is concerned with the development of equation of motion of inverted pendulum and its analysis by adopting the Lagrangian and Differential Transform Method (DTM) respectively. The resulting equations were solved analytically. Results obtained are consistent with the ones in the literature