Lagrangian-Laplace Dynamic Mechanical Analysis and Modeling of Inverted Pendulum

摘要

As a result of increase in application of robotics in medicine, agriculture, Military, Industries Explorations and Entertainment, there has been an increase in inverted pendulum analysis as regards its motion, stability, and control. This study is concerned with the development of equation of motion and its analysis by adopting the Lagrangian and Laplace transform method respectively. The Lagrangian was used to develop the models. The resulting models were solved analytically adopting Laplace transform method. Results obtained are consistent with the ones in the literature. Specifically, the angular displacement was found to be periodic.