diff --git a/sravan_part_1.m b/sravan_part_1.m
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+%% ROB 535 Team 3 Control Project
+close all;
+clear;
+clc;
+
+%% Model Parameters
+% Vehicle Parameters
+delta_lim = [-0.5, 0.5];
+F_x_lim = [-5000, 5000];
+m = 1400;
+N_w = 2;
+f = 0.01;
+I_z = 2667;
+a = 1.35;
+b = 1.45;
+B_y = 0.27;
+C_y = 1.2;
+D_y = 0.7;
+E_y = -1.6;
+S_hy = 0;
+S_vy = 0;
+g = 9.806;
+% Note: The Pacejka parameters are for the slip angle in degrees
+
+% Initial Conditions
+x_0 = 287; % meters
+u_0 = 5; % meters/second
+y_0 = -176; % meters
+v_0 = 0; % meters/second
+psi_0 = 2; % radians
+r_0 = 0; % radians/second
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