// PendulumPlantController
// System


module PendulumPlantController(event real ?initialAngle, hybrid real position, hybrid real velocity, hybrid real angle, hybrid real angularVelocity, hybrid real force,event modeChange) {
	angle = initialAngle;
	FlattenedPlantController(position, velocity, angle, angularVelocity, force, modeChange);	
} drivenby {
	//initial angle
	initialAngle = 0.1;
    for(i=0..300)
        pause;
}