SYSTEM DYNAMICS & CONTROL

CHAPTER 2
REVIEW DYNAMICS
LAGRANGE’S METHOD

Assoc. Prof. Dr Vo Tuong Quan

HCMUT - 2017
 Lagrange’s Method
Lagrange’s method:
1. Calculate the kinetic energy of system (K or T)
1 2
K  mv
2
2. Calculate the rotation kinetic energy of system (K or T)
1 2
K Rot  I
2
3. Calculate the potential energy of the system (P or V or U)
P  mgh
 Lagrange equation: L = K – P d  L  L
Then: Calculate the equation    0
(Called Lagrange’s Equation) dt  q  q 2
 2011 – Vo Tuong Quan
 Lagrange’s Method
Mass Spring system

1 2
K  mx 2
d x
2  m 2  kx  0
1 2 dt
P  kx
2
1 2 1 2
 L  K  P  mx  kx
2 2 3
 2011 – Vo Tuong Quan
 Lagrange’s Method
Multi degree of freedom system

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 Lagrange’s Method
Simple pendulum

 We need to transform the coordinate

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 Lagrange’s Method
Simple pendulum

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 Lagrange’s Method
Double pendulum

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 Lagrange’s Method
Double pendulum

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 Lagrange’s Method
Double pendulum

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 Lagrange’s Method
Double pendulum

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 Lagrange’s Method
Using Lagrange’s method to calculate the dynamic
equations of two-link elbow planar arm

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 Lagrange’s Method

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 Lagrange’s Method

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 Lagrange’s Method

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 Lagrange’s 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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