Modeling, numerical analysis and application of triple physical pendulum with rigid limiters of motion

The mathematical model of a triple physical pendulum harmonically forced with rigid limiters of motion is presented together with the model of stability based on the Aizerman–Gantmakher theory. Some examples of numerical simulations are given for the system of three coupled rods with a horizontal barrier. The system behavior near the grazing incidence is presented; in particular the spectra of Lyapunov exponents are calculated using the presented model of stability.