# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (sInvertedPendulumOnCart_numpar.txt)
# Generated by MTT at Tue Apr 18 18:07:52 BST 2000
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## Default parameters
b_m = 0.0; # sDCS
c = 0.0; # sC,sC,sCS,sCS
e_0 = 0.0; # sCS,sCS
e_s = 0.0; # Se,Se,Se,sSe,sSe,sSe
f_0 = 0.0; # sIS,sIS,sIS
f_s = 0.0; # Sf,Sf,Sf,sSf,sSf,sSf
g = 0.0; # AFe,AFe,sInvertedPendulum,sROD
i = 0.0; # sI,sI,sI,sI,sI,sI,sIS,sIS,sIS
i_0 = 0.0; # sDCS
j_m = 0.0; # sDCS,sROD
j_p = 0.0; # sInvertedPendulum
ppp_1 = 1.0; # sOpenLoop
ppp_2 = 0.0; # sOpenLoop
ppp_3 = 0.0; # sOpenLoop
ppp_4 = 0.0; # sOpenLoop
k_g = 0.0; # sDrive
k_m = 0.0; # sDCS
l_a = 0.0; # sDCS,sROD
l_b = 0.0; # sROD
l_p = 0.0; # sInvertedPendulum,sInvertedPendulumOnCart
m = 0.0; # sROD
m_c = 0.0; # sCart
m_p = 0.0; # sInvertedPendulum
m_t = 0.0; # sInvertedPendulum
omega_0 = 0.0; # sInvertedPendulum,sROD
r = 0.0; # sDrive,sR,sR
r_a = 0.0; # sDCS
r_c = 0.0; # sCart
r_p = 0.0; # sCart
theta_0 = 0.0; # sInvertedPendulum,sROD
v_0 = 0.0; # sCart
x_0 = 0.0; # sCart,sINTFS,sINTFS
## Pysical 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