#define fsm 10000
#define a2_1 0.000000000000
#define a1_1 0.039993420588
#define a0_1 -0.039993420588
#define b1_1 -1.999013120731
#define b0_1 1.000000000000
#define a2_3 0.000000000000
#define a1_3 0.001997040433
#define a0_3 -0.001997040433
#define b1_3 -1.991123929206
#define b0_3 1.000000000000
#define a2_5 0.000000000000
#define a1_5 0.001991785470
#define a0_5 -0.001991785470
#define b1_5 -1.975376681190
#define b0_5 1.000000000000
#define a2_7 0.000000000000
#define a1_7 0.001983918581
#define a0_7 -0.001983918581
#define b1_7 -1.951833523877
#define b0_7 1.000000000000
#define a2_9 0.000000000000
#define a1_9 0.001973458382
#define a0_9 -0.001973458382
#define b1_9 -1.920587371354
#define b0_9 1.000000000000
#define a2_11 0.000000000000
#define a1_11 0.001960429615
#define a0_11 -0.001960429615
#define b1_11 -1.881761537908
#define b0_11 1.000000000000
#define Kp -0.200000000000