| Boolean | useGlobalParameters | true | =true, if you want to use the base parameters defined in the 'gp' (GlobalParameters) object |
| StewartPlatform.Types.DiscParameters | base | | Parameters of the base |
| StewartPlatform.Types.DiscParameters | platform | | Parameters of the platform |
| StewartPlatform.Types.Units.Pitch | spindlePitch | gp.electricCylinderParameters[1].spindlePitch | Spindle pitch of the electric cylinder for rotation-dispacement conversion |
| Real | ratio | gp.electricCylinderParameters[1].ratio | Transmission ratio (servomotor.phi/spindle.phi) |
| SI.Torque | initOutputs | 0.01107 | Initial value of the torque commands (Controller outputs) |
| PID parameters |
| Modelica.Blocks.Types.SimpleController | controllerType | Modelica.Blocks.Types.SimpleController.PID | Type of controllers |
| Real | P | gp.servoMotorParameters[1].Tmax/500 | Proportional action |
| SI.Time | Ti | 0.5 | Time constant of Integrator blocks |
| SI.Time | Td | 0.01 | Time constant of Derivative blocks |
| SI.Time | preFilterTimeConstant | 0.1 | Time constant of the prefilter applied to legth ref. |
| SI.Time | postFilterTimeConstant | 0.001 | Time constant of the postfilter (additional pole) |
| SI.Torque | maxOutput | gp.servoMotorParameters[1].Tmax | The controllers output are limited within [-maxOutput,maxOutput] |
| Inverse kinematic - Limits |
| Boolean | limitOutputs | true | =true, if you want to limit the outputs within [minLength,maxLength] |
| Boolean | stopWhenSaturated | true | When a saturation is detected all output signals maintein their current values until all output signals return within the limits |
| SI.Length | maxLength | gp.maxLength | Max leg length |
| SI.Length | minLength | gp.minLength | Min leg length |
| Inverse kinematic - Additional parameters (no effects on the simulation) |
| SI.Time | T_velocity | 0.01 | Time constants for velocity derivative (T>0 required; T=0 is ideal derivative block) |
| SI.Time | T_acc | 0.1 | Time constants for acceleration derivative (T>0 required; T=0 is ideal derivative block) |
