We study synchronization of a number of rotating pendulums mounted on a horizontal beam which can roll on the parallel surface. It has been shown that after the initial transient, different states of pendulums synchronization occur. We derive the analytical equations for the estimation of the phase differences between phase synchronized pendulums. After the study of the basins of attraction of different synchronization states, we argue that the observed phenomena are robust as they occur for a wide range of both initial conditions and system parameters.
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Czołczyński et al. (2012) studied this question.
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