% clear all



% initializations

setup_lab_ip01_2_sip



% specs of pendulum and cart system

M = Mc   % cart mass

m = Mp   % pendulum mass

l = lp   % pend. length

g = 9.8





% linearized model of pendulum-cart system

alpha1 = -Eff_g*Kg^2*Eff_m*Kt*Km/Rm/r_mp^2

alpha2 = Eff_g*Kg*Eff_m*Kt/Rm/r_mp





% you may enter script here

% A = 

% B = 

% C = 

% D = 

% K = 

% L =