% Magnetic Levitation Parameters KCC 2020
% Control Gain MUST BE NEGATIVE!!!!

C = 5.41E-5;
m = 0.008;
g = 9.81;
R = 62.3;
L = 686E-3;
x0 = 0.0089;
i0 = 0.339;
e0 = 21.7;

plant1 = tf(58,[1 0 -2205]);
plant2 = tf(0.016,[.011 1]);
plant = plant1*plant2;

controller = tf(112000*[1 40 404],[1 900 0]);
P = 4922;
I = 50276;
D = 119;
N = 900;
