Dynamical response of a pendulum driven horizontally by a DC motor with a slider-crank mechanism

The pendulum is excited horizontally by a system of a DC motor and a slider-crank mechanism. Mathematical modeling is realistic and based on experimental rig, taking into account details concerning friction in the joints as well as realistic mass distribution in particular elements of the system. Using basic nonlinear tools as phase portraits, Poincare maps, and Fourier spectra, we report various solutions including periodic, quasi-periodic and non-periodic ones. To identify chaotic solutions, we used the 0-1 test. The simulation results were qualitatively confirmed by experiments.