% Magnetic Levitation System (MagLev)
% Reference: sinusoid
% Uncertain parameters: 
%  - friction coefficient c
%  - command parameter a
% Presence of noise on output
% Feedback linearization and sliding mode controllers


%-- Model parameters (nominal)
a=0.95;
b=6.28;
g=9.81;
m=0.12;
c=0.15;
sat=3000; % 3000

%-- Initial conditions
init_pos=0; % initial position

%-- uncertainties on parameters
c_perc=0.2*0;     % uncertainty on parameter c (normalized to 1)
c_tilde=c*c_perc; % bound on uncertainty
c_true=c+c_tilde; % true value of the parameter

a_tilde=0.01*0;   % bound on uncertainty
a_true=a-a_tilde; % true value of the parameter
%------

