# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (DriveCart_numpar.txt)
# Generated by MTT at Wed Aug 25 22:57:05 BST 1999
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# 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 = 1.5; # 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
## Sensitivity parameters
# m_cs = 0; # Cart mass
# b_ms = 0; # Motor friction
# r_cs = 0; # Cart friction
# r_ps = 0; # Pendulum friction
## Control parameters
k_1 = 1;
k_2 = 0;
k_3 = 0;
## States
i_0 = 0; # Initial armature current
v_0 = 0; # Initial cart velocity
x_0 = 0; # Initial cart position
# omega_0 = 0; # Initial pendulum velocity
# theta_0 = 0; # Initial pendulum angle
## Control sensitivity parameters
# k_1s = 0;
# k_2s = 0;
# k_3s = 0;
# ## Argument list
# if (mtt_n_parameters>1)
# r_cs= mtt_parameters(1);
# r_c = mtt_parameters(2);
# endif;
# if (mtt_n_parameters>3)
# m_cs= mtt_parameters(3);
# m_c = mtt_parameters(4);
# endif;
# if (mtt_n_parameters>5)
# k_1s= mtt_parameters(5);
# k_1 = mtt_parameters(6);
# endif;
# if (mtt_n_parameters>7)
# k_2s= mtt_parameters(7);
# k_2 = mtt_parameters(8);
# endif;
# if (mtt_n_parameters>9)
# k_3s= mtt_parameters(9);
# k_3 = mtt_parameters(10);
# endif;