%%%%%%%%% Initialization of various constants for the controller%%%%%%%%%%
s=7;b=sqrt(1/.4823);
c3=2;c4=2;
C=3/2/s*1.1;
k1=1.2*(1+(2*C*s+3)^2/2);
c0=k1;
k2=1.1*(k1+9/4*k1^2+9*k1/4/(k1-9/8)+(k1^2-1)^2/4);
k1t=1-b^2*k1*k2;
k3t=3*c0*b^2;
b1=c3*k3t-3*k1t;
b2=-2*(k3t*s+3*k3t);
b3=-(2*s*k3t-3/2*k3t);
b4=-(s*k3t+k3t/2);
b9=k1t*c3-c0+k2;
b5=k3t*c3-3*k1t;
b6=-(k3t*s+3*k3t);
b7=-(2*s*k3t-3/2*k3t)*2;
b8=-3*(s*k3t+k3t/2);
b10=b^2*k2*c3-k1t+1;
c2=2/k1*(k1/4+.5)^2-1/2/k1;