Parameters of the GTS

Inertia of the Motor

$J_m$

0.01 kg·m²

Inertia of the Load

$J_l$

0.5 kg·m²

Deadzone Spacing

$\delta$

0.02 Rad

Gear Ratio

$N_0$

5; none

Rigidity constant

m

0.2; Nm/rad

Load Viscous Friction

$c_l$

0.12; Nm/rad

Motor Viscous Friction

$c_m$

0.12; Nm/rad