% Parameter definitions (roughly a human on a Segway)
M = 10;					% mass of base in kg
m = 80;					% mass of rider in kg
l = 1;  				% center of mass of rider in m
J = 100;				% inertia of rider, kg m^2/s^2
c = 0.1;				% translational damping, Ns/m
gam = 0.01;				% rotational damping, N m s
g = 9.8;				% gravitational constant m/s^2

% Derived quantities
Mt = M + m;				% total mass
Jt = J + m*l^2;				% total inertia
det = Mt*Jt - m^2 * l^2;		% common denominator
