Dears All

If I have the following parameters of dynamic model for a mobile robot had the state-space equations below

Moment of inertia around the C.G. of robot Iv = 10 Kg.m^2

Mass of the robot M =200 Kg

Distance between left and right wheel and the c.g. of robot l = 0.3 m

Moment of inertia of wheel Iw = 0.005 Kg.m^2

Viscous friction factor c = 0.05 Kg/s

Radius of wheel r = 0.1 m

Driving gain factor k = 5

the state variable for the robot as x = [v θ θ’ ]^T The manipulated variable as [Ur Ul ]^T , and the output variable as y = [v θ ]^T

θ : Azimuth of the robot

v : Velocity of the robot

Ul : torque for the left wheel

Ur : torque for the right wheel

How could I calculate or infer the Viscous friction factor c & Driving gain factor k values for another mobile robot with the following parameters for the same dynamic model above

Iv = 1.5 Kg.m^2

M = 2 Kg

l = 0.2 m

Iw = 0.001 Kg.m^2

c = ?

r = 0.02 m

k= ?

thanks