MatthewPeterKelly/L​agrange_Mechanics_D​erivations

Tutorial using Lagrange equations to derive equations of motion for mechanical systems.

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.