# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (sInvertedPendulumOnCart_numpar.txt)
# Generated by MTT at Wed Aug 25 22:57:05 BST 1999
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1 1999/12/03 00:50:28 peterg
# %% Initial revision
# %%
# %% Revision 1.1 1999/11/12 06:47:50 peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
## Same as sInvertedpendulumOnCart with pendulum stuff removed.
# Parameters
j_m = 3.87e-7; # Motor inertia
k_m = 0.00767; # Motor constant
r_a = 2.6; # Armature resistance
l_a = 0.18e-3; # Armature inductance
k_g = 1/3.7; # Internal gear ratio
r = 0.635e-2; # Motor gear radius
m_c = 0.455; # Cart mass
b_m = 0.0; # Motor friction
r_c = 5.0; # Cart friction
# l_p = 0.61; # Pendulum length
# m_p = 0.210; # Pendulum mass
# r_p = 0.0; # Pendulum friction
# j_p = m_p*(l_p*l_p)/12; # Pendulum inertia about cm.
# g = +9.81; # Gravity
# m_t = 0.0; # Tip mass
## Sensitivity parameters
m_cs = 0; # Cart mass
b_ms = 0; # Motor friction
r_cs = 0; # Cart friction
# j_ps = 0; # Pendulum inertia
# m_ps = 0; # Pendulum mass
# r_ps = 0; # Pendulum friction
# m_ts = 0; # Tip mass
## Initial states
i_0 = 0; # Initial armature current
# omega_0 = 0; # Initial pendulum velocity
# theta_0 = 0; # Initial pendulum angle
v_0 = 0; # Initial cart velocity
x_0 = 0; # Initial cart position
## Sensitivity parameters
i_0s = 0; # Initial armature current
# omega_0s = 0; # Initial pendulum velocity
# theta_0s = 0; # Initial pendulum angle
v_0s = 0; # Initial cart velocity
x_0s = 0; # Initial cart position
## Control parameters
k_1 = 1;
k_2 = 0;
k_3 = 0;
k_4 = 0;
## Control sensitivity parameters
k_1s = 0;
k_2s = 0;
k_3s = 0;
k_4s = 0;
## Which sensitivity function? NB all other sens. coeffs MUST be zero -
## see above
if (mtt_n_parameters>=1)
mtti = mtt_parameters(1);
if mtti==1
k_1s = 1;
endif
if mtti==2
k_2s = 1;
endif
if mtti==3
k_3s = 1;
endif
if mtti==4
k_4s = 1;
endif
if mtti==5
r_cs = 1;
endif
if mtti==6
m_cs = 1;
endif
# if mtti==7
# r_ps = 1;
# endif
# if mtti==8
# m_ts = 1;
# endif
# if mtti==9
# j_ps = 1;
# endif
if mtti==10
i_0s = 1; # Initial armature current
endif
# if mtti==11
# omega_0s = 1; # Initial pendulum velocity
# endif
# if mtti==12
# theta_0s = 1; # Initial pendulum position
# endif
if mtti==13
v_0s = 1; # Initial cart velocity
endif
if mtti==14
x_0s = 1; # Initial cart angle
endif
endif;
## Control parameters
if (mtt_n_parameters>=2)
k_1 = mtt_parameters(2);
endif;
if (mtt_n_parameters>=3)
k_2 = mtt_parameters(3);
endif;
if (mtt_n_parameters>=4)
k_3 = mtt_parameters(4);
endif;
if (mtt_n_parameters>=5)
k_4 = mtt_parameters(5);
endif;
## Physical parameters
if (mtt_n_parameters>=6)
r_c = mtt_parameters(6);
endif;
if (mtt_n_parameters>=7)
m_c = mtt_parameters(7);
endif;
# if (mtt_n_parameters>=8)
# r_p = mtt_parameters(8);
# endif;
# if (mtt_n_parameters>=9)
# m_t = mtt_parameters(9);
# endif;
# if (mtt_n_parameters>=10)
# j_p = mtt_parameters(10);
# endif;
## Initial condition parameters - states are read in
if (mtt_n_parameters>=15) #
i_0 = mtt_parameters(11); # Initial armature current
# omega_0 = mtt_parameters(12); # Initial cart velocity
# theta_0 = mtt_parameters(13); # Initial cart position
v_0 = mtt_parameters(14); # Initial pendulum velocity
x_0 = mtt_parameters(15); # Initial pendulum angle
endif;
## Simulation stuff
if (mtt_n_parameters>=16)
LAST = mtt_parameters(16);
endif;
if (mtt_n_parameters>=17)
DT = mtt_parameters(17);
endif;