This tutorial contains clearly written code that uses the Matlab symbolic toolbox to generate equations of motion for a variety of simple mechanical systems, using the Langrange equations. The simple systems are a single pendulum and a simple harmonic oscillator. A few more systems with 2-3 degrees of freedom are included, like a double pendulum, and two versions of the cart-pole system. The most complicated derivation finds equations for a n-link pendulum.
Matthew Kelly (2019). MatthewPeterKelly/Lagrange_Mechanics_Derivations (https://www.github.com/MatthewPeterKelly/Lagrange_Mechanics_Derivations), GitHub. Retrieved .