Altex Parameters:
 
 3.000000       : (vel) Foward speed, knots.
 10.000000      : (deltaR) Rudder angle, Deg.
 2.000000       : (tdeltaR) Rudder slew stop time, Sec.
 52.000000      : (Tp) Thrust, Newtons.
 795.000000     : (mass) Mass, kg.
 4.190000       : (len) Length, Meters.
 0.533400       : (dia) Diameter, Meters.
 21.000000      : (dia) Diameter, Inches.
 0.000000       : (xG) x CG offset, Meters.
 -0.127000      : (xPcp) Dist from pivot to ring CP, Meters.
 -5.000000      : (xPcp) Dist from pivot to ring CP, In.
 0.095250       : (aR) Rudder Actuator Offset, m
 3.750000       : (aR) Rudder Actuator Offset, In.
 0.119600       : (ControlArea) Control surface Area, Meters^2.
 185.380371     : (ControlArea) Control surface Area, Inches^2.
 0.307122       : (TotalArea) Area of ring and struts, M^2.
 4.260000       : (Ar) Ring/strut aspect ratio.
 0.723000       : (Cdc) Crossflow drag coefficient
 0.006500       : (Cd0) Constant component of drag coeff.
 0.900000       : (Ef) Oswald efficiency factor.
 3.392000       : (dCl) Coeff. of lift slope.
 -1.885500      : (xR) Distance from CG to CP of ring, Meters.
 -1.758500      : (xP) Distance from CG to pivot point, Meters.
 709.164469     : (Izz) Inertia about (principal) z axis, kg-m^2.
 22.618987      : (Ixx) Inertia about (principal) x axis, kg-m^2.
 -59.853025     : (Xudot) Deriv of X wrto u-dot, kg.
 126.965545     : (Xrv) Deriv of x wrto rv, kg.
 -28.674628     : (Xrr) Deriv of x wrto rr, N-sec^2.
 -21.431931     : (Xuu) Deriv of x wrto uu, kg/m.
 88.433587      : (Xvv) Deriv of x wrto vv, kg/m.
 -149.897250    : (Nr) Deriv of N wrto r, kg-m.
 -632.025000    : (Nv) Deriv of N wrto v (Munk Moment), kg.
 50.880000      : (Yr) Deriv of Y wrto r, kg.
 -94.868735     : (Yv) Deriv of Y wrto v, kg/m.
 -636.000000    : (Yvdot) Deriv of Y wrto v-dot (Added Mass),kg.
 -567.331575    : (Nrdot) Deriv of N wrto r-dot (Added Inr),kg-m^2.
 0.000000       : (Yrdot) Deriv of Y wrto r-dot.
 0.000000       : (Nvdot) Deriv of N wrto v-dot.
 0.000000       : (Yvabsr) Deriv of Y wrto r|v|.
 -557.828162    : (Yvabsv) Deriv of Y wrto v|v|.
 273.480000     : (Nvabsv) Deriv of N wrto v|v|.
 -983.975515    : (Nrabsr) Deriv of N wrto r|r|.
 
 -------------Open Loop Linear Analysis:-------------
 
 Steady-State Values of the OPEN LOOP Linear Model:
 The rudder angle is 10 Deg.
 The CG drift angle is 18.9976 Deg.
 The turn rate is -15.2823 Deg/Sec
 The turn diameter is 11.5724 Meters or 2.7619 vehicle lengths.
 The control-torque component about the CG is -179.4053 N-m
 The control-torque component about the pivot point is -11.0091 N-m
 The total steady-state torque about the CG is 437.4424 N-m
 The total steady-state torque about the pivot point is 30.5394 N-m
 The eigenvalues are: 

evals =

   -0.2035
   -1.2034

 The natural frequency, damping ratio, and time constant are:
 f_n , damping ratio, time constant 

ans =

    0.0324    1.0000    4.9145
    0.1915    1.0000    0.8310

 
 -------------Closed Loop Linear Analysis:-------------
 
 The full order (w/ kinematics) open-loop sway system e-values are:

evals =

         0
         0
   -0.2035
   -1.2034

 
 -------------Simulation of Nonlinear EOM:-------------
 


 Simulation Initialization:
 MSwayInv [0][0] = 6.988120e-04
 MSwayInv [0][1] = -0.000000e+00
 MSwayInv [1][0] = 0.000000e+00
 MSwayInv [1][1] = 7.833945e-04
 P[4] = 7.950000e+02
 P[5] = 8.548530e+02
 P[6] = 1.543333e+00
 P[7] = -1.885500e+00
 P[8] = -1.758500e+00
 P[9] = 9.525000e-02
 P[10] = 3.392000e+00
 P[11] = 1.697183e-01
 P[12] = 6.500000e-03
 P[13] = 8.302292e-02
 P[14] = 6.147440e+01
 P[15] = 1.269655e+02
 P[16] = -2.867463e+01
 P[17] = -2.143193e+01
 P[18] = 8.843359e+01
 P[19] = -9.486874e+01
 P[20] = 5.088000e+01
 P[21] = 0.000000e+00
 P[22] = -5.578282e+02
 P[23] = 0.000000e+00
 P[24] = -6.320250e+02
 P[25] = -1.498973e+02
 P[26] = 0.000000e+00
 P[27] = 2.734800e+02
 P[28] = -9.839755e+02
 P[29] = 0.000000e+00
 ------- Nonlinear Steady-State Analysis: ----------
 
 -0.000001      : Computed vSS, Meters/Sec
 -0.000004      : Simulated vSS, Meters/Sec
 52.000000      : Tp. MUST BE ZERO, or else this analysis does not apply.
 0.000026       : Yaw rate, Deg/Sec.
 6863979.053626 : Turn Diameter, Meters.
 -0.000032      : Beta, Deg/Sec.
 -0.000063      : BetaR, Deg/Sec.
 0.000390       : Rudder force resolved to body y axis, Newtons.
 0.002167       : Simulated Rudder force, Newtons.
 1.544212        1.556450       : uSS [Sim Comp], m/sec.