Mb = 0.11;
Rb = 0.02;
Sp = 1;
Mp = 0.1;
Ip = 0.5;
Ib = 1.76*1e-5;
g = 9.81;

Km = 6.876*1e-4;
Kb = 1.9099*1e-7;
Jm = 1e-3;
B = 1e-8;
R = 3.9;
L = 12*1e-6;

Ra = R;
La = L;
J = Jm;