function [Kp,Kvfb,Ki,Kvff,Kaff,MaxInt,mot_num,mot_den,Ts,MaxDac,MaxPosErr,A,B,C,D]=simFxFyStage(mot,motid)
  %global 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 motid==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;
    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);

  %mdlWks=get_param(mdlName,'ModelWorkspace');
  %whos global
  %whos(mdlWks)
  %for k=["Kp","Kvfb","Ki","Kvff","Kaff","MaxInt","mot_num","mot_den","Ts","MaxDac","MaxPosErr"]
  %  assignin(mdlWks,k,eval(k))
  %end

  %assignin(mdlWks,'Ts',1234)
  %getVariable(mdlWks,'Ts')
  % in global space call:
  %global Kp Kvfb Ki Kvff Kaff MaxInt
  %global mot_num mot_den Ts MaxDac MaxPosErr
  %[mot1,mot2]=identifyFxFyStage();
  %simFxFyStage(mot1,mot2);
 
  %
end