𝑂1 = 𝐶𝑒𝑛𝑡𝑟𝑒 𝑜𝑓 𝑔𝑟𝑎𝑣𝑖𝑡𝑦 𝑜𝑓 𝑡ℎ𝑒 𝑖𝑛𝑣𝑒𝑟𝑡𝑒𝑑 𝑝𝑒𝑛𝑑𝑢𝑙𝑢𝑚

𝑂2 = 𝐶𝑒𝑛𝑡𝑟𝑒 𝑜𝑓 𝑔𝑟𝑎𝑣𝑖𝑡𝑦 𝑜𝑓 𝑟𝑒𝑎𝑐𝑡𝑖𝑜𝑛 𝑤ℎ𝑒𝑒𝑙

𝐿1 = 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑐𝑒𝑛𝑡𝑟𝑒 𝑜𝑓 𝑔𝑟𝑎𝑣𝑖𝑡𝑦 𝑜𝑓 𝑡ℎ𝑒 𝑖𝑛𝑣𝑒𝑟𝑡𝑒𝑑 𝑝𝑒𝑛𝑑𝑢𝑙𝑢𝑚 𝑎𝑛𝑑 𝑜𝑟𝑖𝑔𝑖𝑛

𝐿2 = 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑐𝑒𝑛𝑡𝑟𝑒 𝑜𝑓 𝑔𝑟𝑎𝑣𝑖𝑡𝑦 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑒𝑎𝑐𝑡𝑖𝑜𝑛 𝑤ℎ𝑒𝑒𝑙 𝑎𝑛𝑑 𝑜𝑟𝑖𝑔𝑖𝑛

𝜃 = 𝐴𝑛𝑔𝑙𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑣𝑒𝑟𝑡𝑖𝑐𝑎𝑙 𝑎𝑥𝑖𝑠 𝑎𝑛𝑑 𝑖𝑛𝑣𝑒𝑟𝑡𝑒𝑑 𝑝𝑒𝑛𝑑𝑢𝑙𝑢𝑚

∅ = 𝐴𝑛𝑔𝑙𝑒 𝑜𝑓 𝑟𝑒𝑎𝑐𝑡𝑖𝑜𝑛 𝑤ℎ𝑒𝑒𝑙

General Langrange equation is:

𝑑 𝜕𝐿 𝜕𝐿
( )− = 𝜏𝑇 (1)
𝑑𝑡 𝜕𝑞𝑖̇ 𝜕𝑞𝑖

Where:

L = Langrange operator

𝑞𝑖 = Generalized coordinates of 𝜃 and ∅

𝜏 𝑇 = Total torque

The Langrange operator is define as shown in the equation below:

𝐿 = 𝐾𝐸 − 𝑃𝐸 (2)

Where:

KE = Kinetic energy

PE = Potential energy

Kinetic and potential energy are further derived in the following equations:

1 1
𝐾𝐸 = (𝑚1 𝐿21 + 𝑚2 𝐿22 + 𝐼1 + 𝐼2 )𝜃 2̇ + 𝐼2 𝜃̇∅̇ + 𝐼2 ∅2̇ (3)
2 2

𝑃𝐸 = (𝑚1 𝐿1 + 𝑚2 𝐿2 )𝑔 cos 𝜃 (4)

Where:

𝑚1 = Mass of the pendulum

𝑚2 = Mass of the reaction wheel

𝐼1 = Moment of inertia of the inverted pendulum around the centre of gravity

𝐼2 = Moment of inertia of the reaction wheel around the centre of gravity

Substitute equation (3) and (4) to form (5):

1 1
𝐿 = (𝑚1 𝐿21 + 𝑚2 𝐿22 + 𝐼1 + 𝐼2 )𝜃 2̇ + 𝐼2 𝜃̇ ∅̇ + 𝐼2 ∅2̇ − (𝑚1 𝐿1 + 𝑚2 𝐿2 )𝑔 cos 𝜃 (5)
2 2

𝑑𝐿
= −(𝑚1 𝐿1 + 𝑚2 𝐿2 ) 𝑔 sin 𝜃 (−1) = (𝑚1 𝐿1 + 𝑚2 𝐿2 )𝑔 sin 𝜃
𝑑𝜃

𝑑𝐿
= (𝑚1 𝐿21 + 𝑚2 𝐿22 + 𝐼1 + 𝐼2 )𝜃̇ + 𝐼2 ∅̇
𝑑𝜃̇

𝑑𝐿
=0
𝑑∅

𝑑𝐿
= 𝐼2 𝜃̇ + 𝐼2 ∅̇
𝑑∅̇

Therefore:

𝑑 𝑑𝐿 𝑑𝐿
( )− =0
𝑑𝑡 𝑑𝜃̇ 𝑑𝜃

(𝑚1 𝐿21 + 𝑚2 𝐿22 + 𝐼1 + 𝐼2 )𝜃̈ + 𝐼2 ∅̈ − (𝑚1 𝐿1 + 𝑚2 𝐿2 )𝑔 sin 𝜃 = 0

Considering the angle is so small this would make the equation becomes:

(𝑚1 𝐿21 + 𝑚2 𝐿22 + 𝐼1 + 𝐼2 )𝜃̈ + 𝐼2 ∅̈ − (𝑚1 𝐿1 + 𝑚2 𝐿2 )𝑔𝜃 = 0 (6)

𝑑 𝑑𝐿 𝑑𝐿
( )− = 𝜏𝑇
𝑑𝑡 𝑑∅̇ 𝑑∅

𝐼2 𝜃̈ + 𝐼2 ∅̈ = 𝜏 𝑇

𝐼2 (𝜃̈ + ∅̈) = 𝜏 𝑇 (7)