% init.m

% Script for initializing lab 3, ball and beam system

clear all

% Ball and beam system parameters
m = 0.050;          % mass of ball
Rball = 0.02;       % radius of ball

JB = 8e-6;          % inertia of beam
Lbeam = 1;          % length of beam
JR = 0.049;         % thickness of beam

Fr = 0.07;          % Coefficient of friction for the ball
Km = 7.35;          % Motor and gearbox constant

g = 9.8;            % gravitational constant

% Linearized Plant
A = 
B = 
C = 
D = 

% State-feedback vector K
K = 

% Observer matrix L
L = 

% Set pauseFrame for Animation
pauseFrame = 0;

% Simulation initial conditions
x_init_plant = [0 0 0 0];
x_init_observer = [0 0 0 0];
