% 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