inertia_in        		7.6e-5		(kg*m^2/rad)
inertia_out        		0.056		(kg*m^2/rad)
k1_output_constant             	130.0		(N*m/output_deg)
k1_output_amplitude             0.0		(N*m/output_deg)
k1_output_phase			0.0		(cycle_deg)
k2_output_constant             	900.0		(N*m/(output_deg^3))
k2_output_amplitude             0.0		(N*m/(output_deg^3))
k2_output_phase			0.0		(cycle_deg)
hysteresis_width		15.5		(output_N*m)
b_total1			2.1e-6		(N*m/(input_deg/sec))
b_total2			-3.5e-16	(N*m/(input_deg/sec)^3)
b_in				2.33e-7		(N*m/(input_deg/sec))
b_wg_constant			0.0		(N*m)
b_wg1				0.0		(N*m/(deg/sec))
b_wg2				0.0		(N*m/(deg/sec)^3)
b_tooth_tip_constant		0.0		(N*m)
b_tooth_tip1			0.001		(N*m/deg)
b_tooth_tip2			0.0		(N*m/(deg/sec)^3)
cyclic_friction_amplitude	0.008		(input_N*m)
cyclic_friction_phase		240.0		(input_deg)
stiction_torque			0.0		(input_N*m)
stiction_vel			0.0		(deg/sec)
b_out				0.0		(N*m/(output_deg/sec))
mu				0.05		nondimensional
tooth_angle			30.0		(deg)
N               		160.0		nondimensional
cyclic_amplitude		0.001		(N*m)
cyclic_phase			0.0		(cycle_deg)
error_amplitude0    	   	0.003		(output_deg)
error_phase0     		0.0		(cycle_deg)
error_amplitude1    	   	0.022		(output_deg)
error_phase1     		0.0		(cycle_deg)
error_amplitude2    	   	0.006		(output_deg)
error_phase2     		-180.0		(cycle_deg)
motor_kt           	   	0.03		(N*m/amp)
motor_kb           	  	0.000507	(volts/input_deg/sec)
amp_resistance			3.1		(ohms)
irequested      		2.6		(amps)
initial_pos_in  		0.0		(input_deg)
initial_pos_out  		-0.01		(output_deg)
initial_vel_in  		1.61		(input_deg/sec)
initial_vel_out  		0.01		(output_deg/sec)
initial_time			0.0		(sec)
final_time			4.0		(sec)
step				0.002		(sec)
fast_plot			1		(1=on,0=off)
model				1		(0,1)