--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ss/pend_model.py	Fri May 27 14:24:59 2011 +0530
@@ -0,0 +1,43 @@
+#!/usr/bin/python
+## 2.1
+
+from numpy import zeros
+
+def pend_model():
+    Km = 0.00767
+    Kg = 3.7
+    Rm = 2.6
+    r = 0.00635
+    M = 0.522
+    m = 0.231
+    g = 9.81
+    L = 0.305
+    J = 0
+
+    D1 = (J+m*L**2)*(M+m)-m**2*L**2
+    alpha = m*g*L*(M+m)/D1
+    beta1 = m*L/D1
+    gamma1 = m**2*g*L**2/D1
+    delta = (J+m*L**2)/D1
+    
+    alpha1 = Km*Kg/Rm/r;
+    alpha2 = Km**2*Kg**2/Rm/r**2
+    
+    A = zeros([4,4])
+    A[0,2] = 1
+    A[1,3] = 1
+    A[2,1] = -gamma1
+    A[2,2] = -alpha2*delta
+    A[3,1] = alpha
+    A[3,2] = alpha2*beta1
+    
+    B = zeros([4,1])
+    B[2] = alpha1*delta
+    B[3] = -alpha1*beta1
+
+    return A, B
+
+if __name__ == "__main__":
+    A, B = pend_model()
+    print "A", A
+    print "B", B