The equations of an inverted pendulum with an arbitrary number of links and an asymmetric follower force

This paper formulates a problem for and gives the differential equations of plane-parallel motion of an inverted n-link pendulum subject to an asymmetric follower force applied at the upper end via a spring. The physical nonlinearities of springs are taken into account. The possible mechanisms of energy dissipation are described __________ Translated from Prikladnaya Mekhanika, Vol. 43, No. 5, pp. 106–114, May 2007.