Question: By using the Euler-Lagrange approach, show that when considering q1 = xc and q2 = the dynamic model for the inverted pendulum system in Fig.

By using the Euler-Lagrange approach, show that when considering q1 = xc and q2 = the dynamic model for the inverted pendulum system in Fig. 1 can be described by: u = (M m) q1 b q1 m q2 cos(q2) m q2 2 sin(q2) (1a) 0 = q1 sin(q2) q2 g cos(q2)

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