%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