Update analytical parameters

index.org

@@ -213,18 +213,17 @@ Control parameters
 
 System parameters
 #+begin_src matlab
-  w0 = 2*pi*.5; % MinusK BM1 tablle
+  l  = 0.5; % Length of the mass [m]
+  la = 0.5; % Position of Act. [m]
 
-  l  = 0.8; % [m]
-  la = l;   % [m]
+  h  = 1.7; % Height of the mass [m]
+  ha = 1.7; % Position of Act. [m]
 
-  h  = 1.7; % [m]
-  ha = h;   % [m]
+  m = 400; % Mass [kg]
+  I = 115; % Inertia [kg m^2]
 
-  m = 70; % [kg]
- 
-  k = 3e3; % [N/m]
-  I = 10;  % [kg m^2]
+  k = 15e3; % Actuator Stiffness [N/m]
+  c = 0.03; % Actuator Damping [N/(m/s)]
 #+end_src
 
 Bode options.
@@ -270,7 +269,7 @@ Frequency vector.
         0 1 la/2]; %Right vertical actuator
   Jta = Ja';
   K = k*Jta*Ja;
-  C = 0.06*k*Jta*Ja;
+  C = c*Jta*Ja;
 
   E = [1 0 0
        0 1 0