Updated 21 Feb 2016
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 (2021). MatthewPeterKelly/Lagrange_Mechanics_Derivations (https://github.com/MatthewPeterKelly/Lagrange_Mechanics_Derivations), GitHub. Retrieved .
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