I am trying to model the following in a computer simulation:(adsbygoogle = window.adsbygoogle || []).push({});

The Acrobot

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 in to update the system? d1 and d2 first (as the angular acceleration relies on these).

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# Variables of the double inverted pendulum

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