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diff --git a/2048/CH2/EX2.1/pend_model.sce b/2048/CH2/EX2.1/pend_model.sce
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+// Model of inverted pendulum
+// 2.1
+
+Km = 0.00767;
+Kg = 3.7;
+Rm = 2.6;
+r = 0.00635;
+M = 0.522;
+m = 0.231;
+g = 9.81;
+L = 0.305;
+J = 0;
+
+D1 = (J+m*L^2)*(M+m)-m^2*L^2;
+alpha = m*g*L*(M+m)/D1;
+beta1 = m*L/D1;
+gamma1 = m^2*g*L^2/D1;
+delta = (J+m*L^2)/D1;
+
+alpha1 = Km*Kg/Rm/r;
+alpha2 = Km^2*Kg^2/Rm/r^2;
+
+A = zeros(4,4);
+A(1,3) = 1;
+A(2,4) = 1;
+A(3,2) = -gamma1;
+A(3,3) = -alpha2*delta;
+A(4,2) = alpha;
+A(4,3) = alpha2*beta1;
+
+B = zeros(4,1);
+B(3) = alpha1*delta;
+B(4) = -alpha1*beta1;