Table 1: Steady state gain of 𝜔 𝑒 versus 𝑣 𝑞 for the system in open loop (prior to linearization).

𝑣 𝑞 𝜔 𝑒 𝑘 = 𝑑 𝜔 𝑒 / 𝑑 𝑣 𝑞

52.55
104.77090.44418
156.47060.33994
207.60820.22752
258.25670.1297
308.53260.05518