Coupled second order differential equations

2018 1 2
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更新时间：2018 1 2
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Hello all, I am trying to solve a double inverted pendulum problem using matlab. I have the equations of motion for the pendulum. I am having trouble in coding the equations in matlab. Can someone shed some light on it.The equations of motion are below. i have the values of J1, m1 a1 and l1.

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