SYSTEM DYNAMICS & CONTROL

CHAPTER 2

REVIEW DYNAMICS
LAGRANGES METHOD

Dr. Vo Tuong Quan

HCMUT - 2011

Lagranges Method
Lagranges method:
1. Calculate the kinetic energy of system (K or T)

1 2
K mv
2
1. Calculate the rotation kinetic energy of system (K or T)

K Rot

1 2
I
2

1. Calculate the potential energy of the system (P or V or U)

P mgh
Lagrange equation: L = K P
Then: Calculate the equation
(Called Lagranges Equation)
2011 Vo Tuong Quan

d L L

dt q q 2

Lagranges Method
Mass Spring system

1 2
K mx
2
1 2
P kx
2
1 2 1 2
L K P mx kx
2
2

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d x
m 2 kx 0
dt

Lagranges Method
Multi degree of freedom system

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Lagranges Method
Simple pendulum

We need to transform the coordinate

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Lagranges Method
Simple pendulum

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Lagranges Method
Double pendulum

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Lagranges Method
Double pendulum

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Lagranges Method
Double pendulum

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Lagranges Method
Double pendulum

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Lagranges Method
Using Lagranges method to calculate the dynamic
equation of two-link elbow planar arm

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Lagranges Method

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Lagranges Method

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Lagranges Method

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Lagranges Method

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Lagranges Method

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Lagranges Method
Modeling and designing a PID controller for an Inverted
pendulum
(M) mass of the cart
(m) mass of the pendulum
(b) coefficient of friction for cart
(l) length to pendulum center of mass
(I) mass moment of inertia of the
pendulum
(F) force applied to the cart
(x) cart position coordinate
() pendulum angle from vertical (down)

Source: http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=SystemModeling

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Lagranges Method

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