% rotatepend.m

% system
A = [0 0 1 0;
     0 0 0 1;
     0 0 -115 0;
     0 41.4105 81.0969 -0.0502];
B = [0;0;215.5;-151.9686];
C = eye(4);%
D = zeros(4,1);

% LQ control
Q = diag([10 1 1 1]); R = 10;

% initial state
X0 = [0 0.05 0 0]';

% delay for design: should be integer times of 'del'
h = 0.1;

% tau in fiter:
tau = 0.03;

% EOF