%% Function %%
function xdot = xsystem_tilt(t,x)
global P K1 K2 xd Vs Vco g theta

Vc = Vco + K1*(x(1)-xd) + K2*(x(2)); % voltage on cart sphere [V]

if Vc > 30000
    Vc = 30000;
elseif Vc < -30000
    Vc = -30000;
end

%% Differential Equations %%

xdot(1) = x(2);
xdot(2) = Vs*Vc*P/((x(1))^2) - g*sin(theta);

xdot = xdot';