%
% balancer_param.m
%
% Parameters for NXTway-GS balancer control
%

%
%   Copyright 2011-2012 The MathWorks, Inc.
%

a_d = 0.8; 
a_r = 0.996;

k_f = {-0.870303, -31.9978, -1.1566, -2.78873};
k_i = -0.44721;

k_phidot = 25.0 * 2.5;
k_thetadot = 7.5;

battery_gain = 0.001089;
battery_offset = 0.625;

cmd_max = 100;

% End Of File