This model models a 3-D pendulum bouncing on a flat surface. Double-click the right yellow block for a graphic view. Pendulum collides with the surface of the cart and bounces back with some energy loss, which is specified by the lambda parameter. There is no extra force except the gravity force applied on the pendulum. This model is a Zeno model. We use two states for pre-Zeno and post-Zeno dynamics respectively.