% Double Inverted Pendulum main routine
% ECE 463 Lecture #10

X = [-1, 0.1, 0, 0, 0, 0]';
Ref = 1;
dt = 0.01;
U = 0;
t = 0;

while(t < 1.5)
 Ref = 0;
 U = 0;
 dX = Cart2Dynamics(X, U);
 X = X + dX * dt;
 t = t + dt;
 Cart2Display(X, Ref);
 plot([Ref, Ref],[-0.1,0.1],'b');
 end