1           viscous friction coefficient N.m.s
2            air resistence coefficient (laminar flow)

-

5             Coulomb-friction coeficient  N.m
8            air resistance coefficient (turbulent flow)

-

12           - -
13           accelerating force N
14          - -
15           gravity constant m.s^-2
16            armature current / coil current A
17           rotor and propeller inertia kg.m^2
18            ball inertia kg.m^2
19            plate inertia kg.m^2
20          position sensor gain V/m
21           amplifier gain -
22           current sensor gain -
23            coil & amplifier gain A/V
24            coil constant -
25           elevation constant -
26           azimuth constant MU/rad
30         A/D converter gain -
31           D/A converter gain -
33           damping constant N/m.s
34           limit constant- elasticity -
35           limit constant- damping -
36          amplifier gain V/MU
38           back-emf constant V.s
39           torque constant N.m/A
43           coil inductance H
44           ball mass kg
45           i-th generalized coordinate -
46            first derivative of thei-th generalized coordinate by time -
47           i-th generalized force -
48              ball radious m
49           ball center radious vector m
50           armature resistance Ohm
51            coil resistance Ohm
53           resistance of the feedback resistor Ohm
54            kinectic energy of the system -
56            coil & amplifier time constant s
57            control (computer) output value V
58           model input voltage V
59          D/A converter offset V
60           back emf V
61           armature voltage V
62          D/A converter input MU
64           ball center velocity vector m/s
65            potential energy of the system -
66            ball possition coordinate x in the plate/ ball position (levitation) m
67            coil offset m
68           ball possition coordinate y in the plate m
69           model output voltage V
71            position sensor offset m
72            A/D converter output MU
73           A/D converter offset MU
74            elevation -
75            elevation sensor offset for fi = 0  -
76            azimuth MU
77           plate inclination angles rad/s
80            motor torque N.m
81             Coulomb friction load torque N.m
82            air resistence load torque N.m
83            elevation driving torque(main propeller influence) N.m
84             stabilizing motor driving torque N.m
85            centrifugal torque N.m
86            friction torque (Coulomb and viscous) N.m
87            friction torque (Coulomb and viscous) N.m
88            main motor reaction torque N.m
89            gravitational torque N.m
90            gyroscopic torque N.m
91            azimuth MU
92            elevation  rad/s
93            rotor angular velocity/angular velocity vector of rotating ball rad/s
95            angular velocity of the main propeller rad/s
96            angular velocity of the stabilizing propeller N.m
97            angular velocity vector of rotating plate rad/s
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