kb 3.57e8[N/m] "Bearing stiffness"
cb 1.3e5[N*s/m] "Bearing damping"
gap 3[mm] "Air gap"
ibp 1[A] "Bias current, positive axis"
ibn 1[A] "Bias current, negative axis"
imax 5[A] "Maximum current"
Kp 2*(ibp^2+ibn^2)/(gap*(ibp+ibn)) "Proportional gain"
Ki Kp/0.005[s] "Integral gain"
Kd Kp*0.001[s] "Derivative gain"
Fc 20 "Force constant"