// FILE: myLegoDcpPoles1_0.m
// DATE: 1.0 10/31/18
// AUTH: P.Oh
// DESC: LEGO Damped compound pendulum: pole calculations

// Pendulum properties
J   = 0.0090;           // Moment of Inertia [kg m^2]
c   = 0.00035;          // Viscous damping coefficient [Nms/rad]
d   = 0.023;            // Distance from pivot to center-of-mass [m]
L   = 0.495;            // Length of bar [m]
z   = 0.0059;           // Damping ratio
w   = 2.50;             // Natural frequency [rad/s]
mL  = 0.43;             // Mass of system [kg]
g   = 9.81;             // Gravitational constant [m/s^2]
PI  = 3.1416;           // Pi constant

r   = d + (L/2);    // Distance between motor-prop and pivot point [m]
Fl  = 0.123;        // Lift force when applying 2.0 Volts to motor-prop [N]
tor = Fl*r;         // Torque when applying 2.0 Volts to motor-prop [Nm]

vTest = 2.0;        // Test voltage [Volt]
Km = tor/vTest;     // Motor constant [Nm/Volt]

// Open Loop system: xDot = Fol*x + Gol*u  where u scalar
//                      y = Hol*x + Jol*u

Fol = [ 0  1; -(mL*g*d/J) -(c/J) ];
Gol = [ 0;  Km/J ];
Hol = [ 1 0];
Jol = 0;

// Create open-loop transfer function using ss2tf command
[oltfNum, oltfDen] = ss2tf(Fol, Gol, Hol, Jol);
