This script models the motion of a simple pendulum using two approaches: the analytical small-angle approximation and a full nonlinear integration of the pendulum equation. It computes and plots the ...

Abstract: Currently existing dynamic models for a two-wheeled inverted pendulum mobile robot have some common mistakes. In order to find where the errors of the dynamic model are induced, Lagrangian ...

Abstract: Tower cranes play a vital role in various industries due to their extensive workspace and high lifting capacity. How-ever, their underactuated characteristics and complex nonlinear dynamics ...