// plant for the inverted pendulum
//

macro massCart = 2.0;
macro lengthRod = 0.5;
macro massRod = 0.1;


module Plant(hybrid real position, hybrid real velocity, hybrid real angle, hybrid real angularVelocity, hybrid real force) {

	flow {
		drv(position) <- cont(velocity);
		drv(angle) <- cont(angularVelocity);
		drv(velocity) <- ((cont(force) - massRod * 9.81 * cont(angle)) / massCart);
		drv(angularVelocity) <- (((massCart + massRod) * 9.81 * cont(angle) - cont(force)) / (massCart * lengthRod));	

		// to maintain values of variables
		drv(force) <- 0;
	
	} until (false);
}