2013
2013Sixth
6th International
InternationalConference
Conferenceon
onEmerging
EmergingTrends
TrendsininEngineering
Analysis of Chaos in Double Pendulum
Himanshu Jain Ashish Ranjan
Mechanical Engineering Mechanical Engineering
Department Department
Indian Institute of Indian Institute of
Technology, Delhi Technology, Delhi
New Delhi, India New Delhi, India
himanshujain.iitd@gmail.com ashish2993@gmail.com
Abstract-In this paper, we present the
analysis of chaotic vibrations in double pendulum
by experimental means. We shall illustrate the
sensitivity of its motion to initial conditions i.e.,
the angles of each pendulum from the vertical,
Tand I at initial time t=0. Here we present the
method of video processing as an experimental
technique to study the motion of double pendulum
in time domain. We have studied the dependence
of the nature of motion of double pendulum
broadly classified into chaotic and non-chaotic, on
the initial conditions in which the angles θ and I
acquire values in the full range of -180 to 180
degrees in various combinations.
Also, we would be showing that the
phenomenon of chaos does not only depend on the
energy levels but there are other governing factors
also. As for example, in double pendulum, it is the
orientation of pendulums.
Index Terms- Chaos, Double Pendulum, Energy
levels, Orientation
I. INTRODUCTION
T
HERE have been several studies on dynamics
of double pendulum addressing different
issues. Some of the early experimental work
is by Shinbrot [1] and Levien and Tan [2].
Shinbrot [1] performed an experimental
study to analyze chaos in double pendulum.
Experiments clearly show the sensitive dependence
of response to initial conditions. Two identical
double pendulums are placed in tandem. Both the
double pendulums are released from the same initial
displacements at the same instant. For small initial
displacements, the motion trajectories of the two
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DOI 10.1109/ICETET.2013.50
Engineeringand
andTechnology
Technology
Prof Kshitij Gupta
Mechanical Engineering
Department
Indian Institute of
Technology, Delhi
New Delhi, India
kgupta@mech.iitd.ac.in
double pendulums remain together. For larger initial
displacements, the trajectories from each other
diverge due to chaotic behavior, which is clearly
observed in a side view. A stroboscope flashing 25
times per second was used to illuminate the
pendulum, which was placed in a dark room. An
electromagnet was used to give initial displacements
to the two pendulums. Lyapunov exponent is
calculated from the experimental readings repeated
for the same initial conditions. For large initial
displacements, the Lyapunov exponent works out to
be a positive quantity, thereby clearly establishing the
chaotic response.
Levien and Tan [2] performed experiments
to study chaos in a simple passive double pendulum.
An optical encoder is used to measure the angles of
the two pendulums. First the two natural frequencies
are measured by initially putting the system in a
natural mode. Then the large angle motion of the
pendulum is obtained experimentally. Authors have
established the sensitive dependence of motion on the
initial angles of the pendulum, in the case of large
swings. This is characteristic of the chaotic motion of
the pendulum. Lyapunov exponents are evaluated to
verify the presence of chaos. Theoretical results for
the case under consideration show the onset of chaos
as the initial angles approach the condition, T(0) =
I(0)~65o.
Zhou and Whiteman [3] analyzed chaotic
motion in a double pendulum. Following a
Newtonian approach, the equations of motion of the
double pendulum are derived in terms of two coupled
second order nonlinear ordinary differential
equations. This is the most generalized form of the
governing equations. These are simplified for small
displacements T andI, the differential equations still
remaining nonlinear. Further simplification is made
by assuming a slow motion so that the angular
velocity terms are dropped. This results in linearized
system equations. These equations are solved using
the 4th order Runge-Katta method. Phase plane plots
are obtained from linearized equations, and the effect
of two parameters i.e., the mass ratio, and relative
lengths of the individual pendulum, is studied. Phase
plane plots are also obtained from the solution of
nonlinear equations, and an irregular motion is
predicted, which is indicative of the chaotic behavior.
The same is also confirmed from the sensitivity of the
system response to initial conditions.
Stachowiak and Okada [4] studied chaotic
motion by constructing Poincare´ sections and
Bifurcation diagrams for certain characteristic values
of energy. Authors have attempted to correlate
qualitatively the energy level with the type of
response. Analysis has shown that the system passes
into chaos as the energy level is increased. At low
energy levels a regular periodic motion is observed.
To illustrate this fact clearly, bifurcation diagrams are
drawn with respect to energy level, as parameter. The
largest Lyapunov exponent is also calculated to
substantiate the conclusions derived from Poincare
maps and bifurcation diagrams.
In a recent study Roy et al.[5] analyze the
motion characteristics of double pendulum at low
energy levels i.e., levels close to the critical value
required to make the outer pendulum rotate. In the
first part of the study, it is shown by both the
harmonic balance and the Lindstedt–Poincare
analyses, that the natural frequency of the “out-of-
phase” mode drops sharply as the initial displacement
is increases. The in-phase natural mode of the double
pendulum remains unchanged. In the second part of
the analysis which involves numerical integration of
nonlinear system equations, similar results as by
Stachowiak and Okada [4] are obtained. It is shown
that as the energy level associated with initial
displacements is increased, the motion dynamics
changes drastically leading to chaotic behavior. One
result shows chaotic motion at an energy level of
2mgl even though it is not clear if it is the threshold
value.
It is evident that there are no comprehensive
results as regards the effect of initial condition
(angles) on the chaotic behavior of the double
pendulum. A general observation by several authors
is that small angle oscillations are periodic, while the
large angle oscillations turn into chaotic mode. There
are some attempts to correlate the chaotic behavior
with the energy level. Onset of chaos is observed as
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the energy level is increased, although no threshold
level of energy is arrived at. In the present paper the
initial angles T and I, are varied in the full range of -
180 to 180 degree in various combinations, and the
motion is identified to be chaotic or non-chaotic
(periodic). This condition is plotted on a map with
two parameters θ and I. This clearly demarcates the
regions of chaotic and non-chaotic motions
associated with the initial conditions on θ and I. Such
a map does not exist in literature, and provides a
comprehensive picture as regards the chaotic motion
of a double pendulum. The experimental results
presented in the paper are for a pendulum with
specific data. Theoretical parametric studies with
mass and length parameters however can be carried
out to assess the effect of these parameters on the
map.
Also, the effort has been made to show that
the energy is not the only governing parameter for
chaos. Other parameters like orientations also play
role in chaotic motion.
II. EXPERIMENTAL SETUP:
The two pendulums of the double pendulum
are bars with uniform cross-section, and hence have a
uniform mass per unit length. The two pendulums are
mounted on rolling element bearings, which can be
assumed to be frictionless. Figure 1 gives a schematic
of the double pendulum. The upper pendulum has
total mass m1= 0.42 kg and a length l1=0.335 m. The
lower pendulum has a total mass m2= 0.12 kg and a
length l2=0.1715 m.
To study the motion characteristics of the
pendulum, we need a reliable technique which does
not infract with the system. The foremost objective
was to record the orientation of upper and lower
pendulum with the passage of time. Since any
hindrance in the motion of the pendulum can lead to
erroneous results, optical measurement techniques
which are practically nonintrusive were needed. The
videos of the pendulum are the reliable source of the
information about the varying angles with time. The
video processing techniques are hence, a reliable
experimental technique.

Fig 1: Double Pendulum: It is hinged at O1and connected with
each other at O2. The angle of upper pendulum with vertical is
T and that of lower isI.
The videos at 23 frames per second were
recorded and to maintain a proper contrast, the
pendulums were made white and the background was
kept dark. For the ease of identification of the
pendulums by the program, some part of the upper
pendulum was painted black. The videos were
processed using a program in which videos were
disintegrated into still photos. Figure 2 shows a frame
of video in which the two pendulums are at some
angular positions in the motion. Thus analyzing these
still photos we can get the data points at 0.0435
seconds interval i.e., 23 data points per second. Each
photo was programmed to be converted into a binary
image as in figure 3 and then the program identifies
the upper and lower pendulum and encloses them in a
Fig 2: Binary Image
Fig 3: Image of pendulum in motion
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boundary as in figure 4 and records their orientations.
Thus, using the image processing techniques [6] we
can get the data points pertaining to the angular
position of the two pendulums from the vertical.
The coordinate system is defined such that
angle of a pendulum from the vertical measured in
the anti-clockwise direction is considered to be
positive, or else negative. So the range of
measurement lies in the interval of (-180q, 180q). In
fact the boundary angle -180q is same as 180q. We
set the initial angle of upper pendulum at a gap of
every 15q in the range of [-90q, 90q] (i.e. at -90q, -
75q, -60q, -45q, -30q, -15q, 0q, 15q, 30q, 45q, 60q, 75q
and 90q). For each initial angular position of the
upper pendulum the lower pendulum was set at an
interval of 45q in the range (-180q, 180q) (i.e. at -
135q, -90q, -45q, 0q, 45q, 90q, 135q, 180q).
Initial velocity of both the pendulums was
zero. So the initial condition was defined by angular
displacements imparted to the two pendulums. Thus,
for these 117 initial conditions, variation of angles Vs
time was obtained for further analysis.
The varying parameters of concern are the
angle and angular velocities of the two pendulums.
Hence we have 4 parameters. To obtain the Poincare
maps we need to fix two parameters so that we can
define a Poincare plane and take the projection on it.
We select those data for which the angle of upper
pendulum is close to zero and the angular velocity of
the upper pendulum is positive. The plot of angular
velocity Vs angle for the lower pendulum for the
selected data gives the Poincare map. It was observed
that choosing another Poincare plane does not alter
the characteristics of the motion but the number of
data points in the map changes.
Fig 4: Bounded image showing the identified
upper and lower pendulum
III. EXPERIMENTAL RESULTS AND ANALYSIS
We use here a (T,I) plot as a tool to study
the nature of the motion and also discuss its
importance in the study of motion of chaotic systems.
The motion in the present study is broadly classified
as chaotic or non-chaotic. The Poincare maps
generated for all the data points (initial conditions)
were analyzed. It helps in identifying whether the
motion is chaotic or non-chaotic.
The poincare maps for the initial conditions
as stated in each figure was plotted for both upper
pendulum and the lower pendulum. Figures 5 and 6
show some typical Poincare maps for the lower and
upper pendulum respectively for different initial
conditions.
Fig 5. Poincare maps for the lower pendulum for different
initial conditions showing the effect of increasing θ (ɸ =0)
The nature of the maps changes as the
motion changes from non-chaotic to chaotic. The
phase plane becomes more and more sparse as we go
towards chaotic motion. The plot appears to be
wandering in space. Initially the plot either shows a
damping characterstic or is clustered around few
points which is a characterstic of non-chaotic motion.
As we move towards chaotic motion the plot
becomes random distribution of points having no
clear pattern.
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Fig 6. Poincare maps for the upper pendulum for different
initial conditions showing the effect of increasin θ (ɸ =0)
In figure 7, the red stars show the non-
chaotic motion, while the blue stars show the chaotic
motion. The dotted curve in figure 4 approximately
demarcates the regions of chaotic and non-chaotic
motions of the double pendulum. It may be noted
that, T and I being the angles of lower and upper
pendulum, the characteristics of motion for the cases
of initial conditions (T,I) and (-T,-I) would be
similar. This is obvious from the fact that magnitude
and relative orientation of the two pendulums are
same and only the direction is reversed. This also
implies that the upper and the lower regions of the
map in Fig. 4 will be a mirror image of each other.
The plot shows that motion is non-chaotic
for smaller values of angle T for the upper pendulum.
For T> 45q, the motion is always chaotic and for T<
45q, there are different values of I for which the
chaotic motion occurs. Also as we increase T, the
range of I for which the motion is non-chaotic
decreases.
We define the orientation of pendulum in
which the product (T*I) of the angle is negative as an
anti-orientation and if it is positive then it is in a
sym-orientation.
Then, there are cases when the system with
the anti-orientation (e.g.: (T,ф)= (30,-45), ( 45,-45) or
(45,-90)) show the chaotic motion, while the
corresponding sym-orientations (i.e. (T,ф)= (30,45), (
45,45) or (45,90)) show non-chaotic motion. It may
be noted that the potential energy in an anti-
orientation and the corresponding sym-orientation
will be same. This shows that the potential energy at
initial condition is not the only variable on which
nature of motion depends. It also depends on the
relative orientation of the upper and the lower
pendulums at t=0. Thus choosing the initial energy
level as the only parameter to determine the nature of
the motion would not be appropriate.
Hence (T,ф) diagram as shown in Fig. 7 is
an effective tool to study the motion of the double
pendulum as it incorporates both the parameters i.e.
energy level and the relative orientation of the two
pendulum.
Fig 7: The experimental plot of (ϴ, ф) diagram showing the
chaotic and non-chaotic regions
IV. CONCLUSION
For the study of chaos, we need some
reliable techniques. The video processing technique
is useful because of its accuracy. In fact this
technique can be used for other system analysis also.
Also, in the observations the time difference between
the consecutive data point is small (here, 1/23 of a
second). And this is reasonable in this case. As the
frequency of oscillation is small, a camera with
capable of recording 23 frames per second is suitable.
For other system where frequency of vibration is very
high a high speed camera can be used.
Secondly, as discussed earlier, the present
work has emphasized on the usefulness of the
Poincare map as a one of the means to study the
changing characteristics of the motion. The effect of
slight variation in the initial condition has been
another way of justifying the occurrence of chaos and
the Lyapunov Exponent is a way to quantify the
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extent of divergence of the motion which we have
used in theoretical analysis.
Experimental results clearly show that initial
energy level of the system in the form of potential
energy is not the only parameter on which chaos
depends. The relative orientation of pendulums is
one of the fundamental parameters that affect the
motion. This is illustrated in the figure 5 below.
Since the angle of the upper pendulum has a greater
contribution in overall energy we have made a plot of
(abs (ϴ1)-abs (ϴ2)) v/s ϴ1.
Fig 8: (abs (ϴ1)-abs (ϴ2)) v/s ϴ1. The colour shows the energy
level. The squares and circles are non-chaotic and chaotic
points respectively. We can see that even for the same or low
energy levels, configurations with high angle difference
between the pendulums at t=0 exhibit chaotic character.
The present work has been an attempt to
find some pattern in the system as regards the
dependence of nature of the motion, chaotic versus
non-chaotic, on the initial conditions of the
pendulum. As expected, we found that the
experimental chaotic region is symmetric (Fig. 4)
about the vertical axis. Our work also shows that
techniques such as video processing for determining
the changing orientation with time is really useful
and can be used in various other systems.
REFERENCES
[1] Troy Shinbrot, Celso Grebogi, Jack Wisdom, James A.
Yorke “Chaos in Double Pendulum” on 14 December
1991.
[2] R.B. Levien (Department of physics, Princeton
university, New Jersey 08544) and S.M. Tan
(Department of Physics, University of Auckland, New
Zealand) “Double Pendulum: An experiment in chaos”
1 April 1993.
[3] Ziliang Zhou and Chad Whiteman, “Motion of double
pendulum” in Nonlinear Analysis, Theory, Methods &
Applications Vol. 26 No 7. Pp 1177-1191, 1996.
[4] Tomasz Stachowiak, Toshio Okada, “A numerical
analysis of chaos in the double pendulum”,
NonlinearAnalysis, Theory, Methods & Applications,
Vol. 26, No. 7, 1996, pp. 1177-1191.
[5] Jyotirmoy Roy · Asok K. Mallik · Jayanta K.
Bhattacharjee in “Role of initial conditions in the
dynamics of a double pendulum at low energies” 19
Feburary 2013.
[6] Image processing toolbox from Matlab
http://www.mathworks.in/products/image/

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