- #1
peterbone
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Hello. First post here.
I'm trying to write a program (from scratch) to simulate a double inverted pendulum (a cart with 2 pendulums one on top of the other). The system is modeled with a system of 3 second order ODE's, which I need to solve numerically using Runge Kutta. I know how to solve a system of first order ODE's numerically but not a system of second order ODE's. The equations are shown in this paper (there's no point in me re-writing them here):
http://www.tf.uni-kiel.de/etech/ART/paper/2001/ieee_cca_isic_zhong.pdf
(equations 4 to 6)
So can anyone tell me how to go about solving this initial value problem numerically? I have looked in many books but can only find examples of systems of first order equations and single second order equations.
Thanks
Peter Bone
I'm trying to write a program (from scratch) to simulate a double inverted pendulum (a cart with 2 pendulums one on top of the other). The system is modeled with a system of 3 second order ODE's, which I need to solve numerically using Runge Kutta. I know how to solve a system of first order ODE's numerically but not a system of second order ODE's. The equations are shown in this paper (there's no point in me re-writing them here):
http://www.tf.uni-kiel.de/etech/ART/paper/2001/ieee_cca_isic_zhong.pdf
(equations 4 to 6)
So can anyone tell me how to go about solving this initial value problem numerically? I have looked in many books but can only find examples of systems of first order equations and single second order equations.
Thanks
Peter Bone
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