% Ball & Beam
% Model parameters

%-- Initial ball position
Init_pos=0;
%------

%-- Parameters
r_ball=0.0175;  % Radius ball [m]
m_ball=0.175;   % mass of the ball [Kg]
g=9.81;  % gravity acceleration [m/s^2]
J_ball=2/5*m_ball*r_ball^2; % momento of inertia of the ball [Kg*m^2]
m_equiv=m_ball+J_ball/r_ball^2;  % Equivalent mass [Kg]
c_friction=0.171;      % friction coefficient [N*s/m]
K_act=-4.36e-4;        % Actuator gain [rad/CU]
T_act=0.01;            % Actuator time constant [s]
sat_high=100;    % actuator high saturation limit
sat_low=-100;    % actuator low saturation limit
%------