// PendulumPlantController
// System


module PendulumPlantController(event real ?initialAngle, hybrid real position, hybrid real velocity, hybrid real angle, hybrid real angularVelocity, hybrid real force) {
	
	angle = initialAngle;
	
	Plant(position, velocity, angle, angularVelocity, force);
||
	Controller(position, velocity, angle, angularVelocity, force);	

} drivenby {
	//initial angle
	initialAngle = 0.1;
    for(i=0..600)
        pause;
}