Table 4: Steady state gain of 𝑦 2 versus 𝑣 1 for the linearized system in open loop after tuning.

𝑣 1 𝑦 2
× 1 0 6
𝑘 = 𝑑 𝑦 2 / 𝑑 𝑣 1
× 1 0 6

52.0033
104.02640.40462
156.09250.41322
208.1930.4201
2510.2950.4204
3012.4340.4278