function [pb]=simFxFyStage(mot)
  % !!! first it need to run: [mot1,mot2]=identifyFxFyStage() tobuild a motor object !!!
  %
  %loads the current (11.10.2018) controller settings of the
  %Powerbrick and opens its simulink file
  %the returned variable pb contains varous parameters:
  %  Kp,Kvfb,Ki,Kvff,Kaff,MaxInt,mot_num,mot_den,Ts,MaxDac,MaxPosErr,A,B,C,D

  Ts=2E-4; % 0.2ms=5kHz
  MaxDac=2011.968;
  MaxPosErr=10000;
  if mot.id==1
    %!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
    %!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
    Kp=25;Kvfb=400;Ki=0.02;Kvff=350;Kaff=5000;MaxInt=1000;
    mot_num=mot.tf_mdl.Numerator;
    mot_den=mot.tf_mdl.Denominator;
  else
    %!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
    %!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
    %Kp=22;Kvfb=350;Ki=0.02;Kvff=240;Kaff=1500;MaxInt=1000;
    Kp=22;Kvfb=350;Ki=0.02;Kvff=240;Kaff=3500;MaxInt=1000;
    mot_num=mot.tf_mdl.Numerator;
    mot_den=mot.tf_mdl.Denominator;
  end

  mdlName='stage_closed_loop';
  %open(mdlName)
  %ServoDeltaTau_z(motid)
  [A,B,C,D]=tf2ss(mot_num,mot_den);


  pb=struct();
  for k=["Kp","Kvfb","Ki","Kvff","Kaff","MaxInt","mot_num","mot_den","Ts","MaxDac","MaxPosErr","A","B","C","D"]
    pb=setfield(pb,k,eval(k));
  end
end