Rotary inverted pendulum

Euler-Lagrange

ℒ =𝐾−𝑈

ℒ(𝑞(𝑡), 𝑞̇ (𝑡)) = 𝐾(𝑞(𝑡), 𝑞̇ (𝑡)) − 𝑈(𝑞(𝑡))

𝑑 𝜕ℒ(q, 𝑞̇ ) 𝜕ℒ(q, 𝑞̇ )
( )− = 𝜏𝑖
𝑑𝑡 𝜕𝑞𝑖̇ 𝜕𝑞𝑖̇
Modeling of Rotary Inverted Pendulum

Kinetic Energy
1 1
𝐾 = 𝑚𝑣 2 + 𝐼𝜔2
2 2
The kinetic energy of the arm is:
1 2
𝐾0 = 𝐼0 𝜃0̇
2
The kinetic energy of the pendulum is:
1 1 2
𝐾1 = 𝑚1 𝑣1 2 + 𝐼1 𝜃1̇
2 2

The total energy of the system is:

1 2 1 1 2
𝐾𝑇 = 𝐼0 𝜃0̇ + 𝑚1 𝑣1 2 + 𝐼1 𝜃1̇
2 2 2
Potential Energy

𝑈 = 𝑚𝑔ℎ
The potential energy of the arm is:

𝑈0 = 0
The potential energy of the pendulum is:

𝑈1 = 𝑚1 𝑔𝑙1 (𝑐𝑜𝑠𝜃1 − 1)
The total energy of the system is:

𝑈𝑇 = 𝑚1 𝑔𝑙1 (𝑐𝑜𝑠𝜃1 − 1)
The position of the center of mass

𝑋𝑥 = 𝐿0 𝑐𝑜𝑠𝜃0 − 𝑙1 𝑠𝑖𝑛𝜃1 𝑐𝑜𝑠𝜃0

𝑋𝑦 = 𝐿0 𝑠𝑖𝑛𝜃0 + 𝑙1 𝑠𝑖𝑛𝜃1 𝑐𝑜𝑠𝜃0

𝑋𝑧 = 𝑙1 𝑐𝑜𝑠𝜃1
𝑇
𝑋𝐶𝑀 = [𝑋𝑥 𝑋𝑦 𝑋𝑧 ]

Linear Speed of the center of mass

𝑑(𝑋𝐶𝑀 )
̇
= 𝑉𝐶𝑀 = 𝑋𝐶𝑀
𝑑𝑡
𝑋𝑥̇ = 𝐿0 𝜃0̇ 𝑠𝑖𝑛𝜃0 − 𝑙1 𝑠𝑖𝑛𝜃1 𝑐𝑜𝑠𝜃0

𝑋𝑦̇ = 𝐿0 𝑠𝑖𝑛𝜃0 + 𝑙1 𝑠𝑖𝑛𝜃1 𝑐𝑜𝑠𝜃0

𝑋𝑧̇ = 𝑙1 𝑐𝑜𝑠𝜃1