A comprehensive approach to double inverted pendulum modelling

The problem of mathematical modelling and indication properties a DIP has been investigated in this paper. aim work is to aggregate the knowledge on using Euler-Lagrange formalism presence external forces friction. To indicate main important for simulation, model parameters identification control system synthesis, analytical numerical tools have used. include stability equilibrium points, chaos dynamics non-minimum phase behaviour around an upper position. presented results refer physical (constructed) system.