%SUMMARY DCS: DCS motor
%DESCRIPTION A special for the inverted pendulum system
%DESCRIPTION Derivative causality on the shaft
%DESCRIPTION No aliased parameters
%DESCRIPTION Built in causality - speeds things up
%DESCRIPTION Only the armature state and shaft resistance are variable
%ALIAS in Electrical
%ALIAS out Mechanical
%% Label file for system DCS (DCS_lbl.txt)
%% Each line should be of one of the following forms:
% a comment (ie starting with %)
% Component-name CR_name arg1,arg2,..argn
% blank
%Motor gain
k_m lin flow,k_m
% Electrical components
%Inductance
l_a lin flow,l_a;i_0
%Resistance
r_a lin flow,r_a
% Mechanical components
%Inertia
j_m lin flow,j_m
%Friction
b_m lin flow,b_m
% Ports
[Electrical] SS external,external
[Mechanical] SS external,external