diff --git a/.gitignore b/.gitignore
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--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+*.slxc
+*.slx.autosave
+*.asv
+slprj
diff --git a/PlantModel.m b/PlantModel.m
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+++ b/PlantModel.m
@@ -0,0 +1,52 @@
+%Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf
+g=9.81;
+m = .468;
+Ix = 4.856*10^-3;
+Iy = 4.856*10^-3;
+Iz = 8.801*10^-3;
+
+%State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf
+%X' = Ax+Bu
+%y = Cx+Du
+
+%Inputs:
+%U1: Total Upward Force on the quad rotor along z-axis
+%U2: Pitch Torque (about x-axis)
+%U3: Roll Torque (about y-axis)
+%U4: Yaw Torque (about z-axis)
+A = [0  0  0  1  0  0  0  0  0  0  0  0;...
+     0  0  0  0  1  0  0  0  0  0  0  0;...
+     0  0  0  0  0  1  0  0  0  0  0  0;...
+     0  0  0  0  0  0  0  -g 0  0  0  0;...
+     0  0  0  0  0  0  g  0  0  0  0  0;...
+     0  0  0  0  0  0  0  0  0  0  0  0;...
+     0  0  0  0  0  0  0  0  0  1  0  0;...
+     0  0  0  0  0  0  0  0  0  0  1  0;...
+     0  0  0  0  0  0  0  0  0  0  0  1;...
+     0  0  0  0  0  0  0  0  0  0  0  0;...
+     0  0  0  0  0  0  0  0  0  0  0  0;...
+     0  0  0  0  0  0  0  0  0  0  0  0];
+
+%Note: In paper, 1/m is in wrong spot
+B = [0 0 0 0;...
+     0 0 0 0;...
+     0 0 0 0;...
+     0 0 0 0;...
+     0 0 0 0;...
+     1/m 0 0 0;...
+     0 0 0 0;...
+     0 0 0 0;...
+     0 0 0 0;...
+     0 1/Ix 0 0;...
+     0 0 1/Iy 0;...
+     0 0 0 1/Iz];
+C = [1 0 0 0 0 0 0 0 0 0 0 0;...
+     0 1 0 0 0 0 0 0 0 0 0 0;...
+     0 0 1 0 0 0 0 0 0 0 0 0;...
+     0 0 0 0 0 0 1 0 0 0 0 0;...
+     0 0 0 0 0 0 0 1 0 0 0 0;...
+     0 0 0 0 0 0 0 0 1 0 0 0]
+D = zeros(6,4)
+     
+
+
diff --git a/PlantModelSim.slx b/PlantModelSim.slx
new file mode 100644
index 0000000..f085c7c
Binary files /dev/null and b/PlantModelSim.slx differ