Variables of the double inverted pendulum

AI Thread Summary
The discussion focuses on modeling a double inverted pendulum in a computer simulation, specifically clarifying the roles of variables d1, d2, phi1, and phi2. d1 represents the total moment of inertia, while d2 pertains to a portion of that inertia related to the second link. phi1 and phi2 are associated with the system's potential energy and are crucial for calculating angular acceleration. It is emphasized that all four variables must be recalculated after any change in angles to ensure accurate updates to the system. Understanding these variables is essential for simplifying the equations and effectively modeling the pendulum dynamics.
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I am trying to model the following in a computer simulation:

http://webdocs.cs.uAlberta.ca/~sutton/book/ebook/node110.html

However I am struggling to understand which variables stand for which. In particular, the variables not defined are:
  • d1 and d2
  • phi1 and phi2

Another problem is which order are these calculated into update the system? d1 and d2 first (as the angular acceleration relies on these).
 
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d1 is the total moment of inertia, d2 is some part of it related to link 2.
phi1 and phi2 are linked to the potential energy of the system.
Those variables just simplify the equations, you could insert their definitions in the first two equations and get rid of them - but that would give very long expressions.

The angular acceleration needs all 4 of them. Therefore, after each change of angles, re-calculate them.
 

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