2reference_time_constant: 0.01
3reference_natural_frequency: 10
4reference_damping_ratio: 0.9
5adaption_state_gain: 1.0
6adaption_desired_gain: 1.0
7adaption_nonlinear_gain: 1.0
9mrac_saturation_level: 1.0
10anti_windup_compensation_gain: 0.0