{

	"Controller" :
	{
		"dt"				: 1.0,
		"P_min"				: 0,
		"P_max"				: 3500,
		"sim_warp_factor"	: 100.0,
		"stirrer_name"      : "Stirrer_sim",
		"plant_name"        : "Plant_sim",
		"useKalman"			: true,
		"kalman" 			: {
			"dt"				: 1.0,
			"var_P"				: 0,
			"var_Q"				: 0.000001,
			"var_R"				: 1,
			"var_Z"				: 0.0
		},
		"Hold" : {
				"Pid" : {
					"kp"	: 0.4,
					"ki"	: 0.0002,
					"kd"	: 0.0,
					"rho"	: 1.0
				}
		},
		"Heat" : {
				"Pid" : {
					"kp"	: 0.002,
					"ki"	: 0.0002,
					"kd"	: 0.0,
					"rho"	: 1.0
				}
		}
	},
	"Plant" :
	{
		"dt"			: 1.0,
		"theta_amb"		: 15,
		"C"				: 4190,
		"M"				: 20,
		"L"				: 0.1,
		"Td"			: 60,
		"kn"			: 0.2
	},

	"Stirrer" :
	{
		"dt"			: 1.0,
		"port"			: "/dev/ttyACM0",
		"speed"			: "115200"
	}
}