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version (50.8 KB) by Matthew Kelly
Tutorial using Lagrange equations to derive equations of motion for mechanical systems.

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Updated 21 Feb 2016

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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.

Cite As

Matthew Kelly (2020). MatthewPeterKelly/Lagrange_Mechanics_Derivations (, GitHub. Retrieved .

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MATLAB Release Compatibility
Created with R2012a
Compatible with any release
Platform Compatibility
Windows macOS Linux