TY - JOUR N2 - The problem of mathematical modelling and indication of properties of a DIP has been investigated in this paper. The aim of this work is to aggregate the knowledge on a DIP modelling using the Euler-Lagrange formalism in the presence of external forces and friction. To indicate the main properties important for simulation, model parameters identification and control system synthesis, analytical and numerical tools have been used. The investigated properties include stability of equilibrium points, a chaos of dynamics and non-minimum phase behaviour around an upper position. The presented results refer to the model of a physical (constructed) DIP system. L1 - http://czasopisma.pan.pl/Content/113684/PDF/04_ACS-2019-3-INTERNET.pdf L2 - http://czasopisma.pan.pl/Content/113684 PY - 2019 IS - No 3 EP - 459–483 DO - 10.24425/acs.2019.130201 KW - double inverted pendulum KW - modelling KW - non-linear dynamics KW - Lagrangian mechanics A1 - Andrzejewski, Kamil A1 - Czyżniewski, Mateusz A1 - Zielonka, Maciej A1 - Łangowski, Rafał A1 - Zubowicz, Tomasz PB - Committee of Automatic Control and Robotics PAS VL - vol. 29 DA - 2019.09.23 T1 - A comprehensive approach to double inverted pendulum modelling SP - 459–483 UR - http://czasopisma.pan.pl/dlibra/publication/edition/113684 T2 - Archives of Control Sciences ER -