KM = 7;
TM = 4;

%K = 0.5*KM;
%K = KM;
K = 2*KM;

%T = 0.5*TM;
%T = TM;
T = 2*TM;

a = 1/T;
b = K/T;

aM = 1/TM;
bM = KM/TM;

Kd0 = 1;
Kp0 = 0;

a2 = 1024;

gamma0 = [KM; 1/KM];

gamma = fminsearch(@criteria,gamma0)