WIP: Started furuta implementation

src/interface_implementations/define_furuta_system.jl

+using ControlSystems
+
+"""
+    Furuta pendulum model
+"""
+function define_furuta_system()
+    l=0.413;
+    M=0.01;
+    Jp=0.0009;
+    r=0.235;
+    J=0.05;
+    m=0.02;
+    g=9.81;
+    x0=[0.1; 0; 0; 0];
+    phidot_lin=0;
+
+
+    alfa=Jp+M*l^2;
+    beta=J+M*r^2+m*r^2;
+    gamma=M*r*l;
+    epsilon=l*g*(M+m/2);
+
+    Afc=[0 1 0 0;
+         (beta*epsilon+alfa*beta*phidot_lin^2)/(alfa*beta-gamma^2) 0 0 0;
+         0 0 0 1;
+         -(gamma*epsilon+alfa*gamma*phidot_lin^2)/(alfa*beta-gamma^2) 0 0 0];
+    Bfc=[0 -gamma/(alfa*beta-gamma^2)*g 0 alfa/(alfa*beta-gamma^2)*g]';
+    Cfc=zeros(4,4);
+    for i = 1:4
+        Cfc[i,i] = 1;
+    end
+    Dfc=zeros(4,1);
+    ss(Afc,Bfc,Cfc,Dfc)
+end