Synchronization of pendula rotating in different directions

We study the synchronization of a number of pendula mounted on a horizontal beam which can roll on the parallel surface. Under the driving moment, the pendula rotate in different directions: one of them rotates counterclockwise, the rest rotate clockwise. It has been shown that after a transient different types of phase synchronization between pendula can be observed, despite opposite directions of rotations.

► Synchronization of counter rotating pendula.
► Approximate analytical condition for synchronization.
► New types of synchronization.