omega (pi/2)[rad/s^2]*t Drum angular velocity
Fxl m_b*r_b*omega^2*cos(phi0+mbd.hgj2.th) Total imbalance, xl component
Fzl m_cl*r_cl*omega^2-m_b*r_b*omega^2*sin(phi0+mbd.hgj2.th) Total imbalance, zl component
F_tot sqrt(Fxl^2+Fzl^2) Total imbalance 
th atan2(Fzl,Fxl)+phi0+mbd.hgj2.th Angle between total imbalance and balancing mass
d_th atan2(F_tot*sin(th),(m_b*r_b*omega^2-F_tot*cos(th))) Correction angle
omegaC step_act(t)*nojac(step_deact(abs(d_th))*sign(d_th))*omegaC_max Correction angular velocity
Fx Fxl*cos(mbd.hgj1.th)+Fzl*sin(mbd.hgj1.th) Total imbalance, x-component
Fz -Fxl*sin(mbd.hgj1.th)+Fzl*cos(mbd.hgj1.th) Total imbalance, z-component
Msl1 abs(mu*mbd.plj1.Fz)-sqrt(mbd.plj1.Fx^2+mbd.plj1.Fy^2) Slip margin, support 1
Msl2 abs(mu*mbd.plj2.Fz)-sqrt(mbd.plj2.Fx^2+mbd.plj2.Fy^2) Slip margin, support 2
Msl3 abs(mu*mbd.plj3.Fz)-sqrt(mbd.plj3.Fx^2+mbd.plj3.Fy^2) Slip margin, support 3
Msl4 abs(mu*mbd.plj4.Fz)-sqrt(mbd.plj4.Fx^2+mbd.plj4.Fy^2) Slip margin, support 4
Msl_tot Msl1+Msl2+Msl3+Msl4 Total slip margin
rpm omega*60[s]/(2*pi[rad]) Drum angular velocity (rpm) 
rpmC omegaC*60[s]/(2*pi[rad]) Correction angular velocity (rpm)