load torque 0.0212 N m; PI: dip 0.524 rad/s = 3.46 percent of setpoint; time outside +-2 percent after the slope: 0.10 s ; final error 0.00000 rad/s
voltage to hold 15.15 rad/s: flat 4.340 V ; on the 5 degree slope 5.022 V ; open-loop droop 2.380 rad/s
motor plug-braking from 15.15 rad/s at -7 V: deceleration 351.9 rad/s^2 = 11.61 m/s^2 (traction limit 178.4 rad/s^2 = 5.89 m/s^2 for mu 0.6)
