Ucda=5;

Uchop=250;

Kc=Uchop/Ucda;

fc=10000;

Tc=1/fc;

Tu=Tc/2;

Zeta=sqrt(2)/2;

tc=0.2;

omegan=2.5/tc;

Ki=J*omegan*omegan;

Kp=2*J*omegan*Zeta-D;

K=p*Lm*Ie;

Kext=Kc*1/(Ra*K);

Kp=Kp/Kext;

Ki=Ki/Kext;

Kf=10*Ki/Kp;