function param = Parameter()
    % Parameter files for the vehicle dynamics model

    % Simulation Parameters
    param.dt=0.001; % Time Step
    param.brk_toggle=1; %toggle inboard/outboard brakes. 0=inboard on the driveshaft 1=outboard on the upright

    % Physics Constant
    param.froll	   = 0.0139;               %rolling ressistance
    % param.c_roll = 0.000998287181712657; %rolling damping [N/(m/s)]
    param.g		   = 9.82;                 %gravity
    param.ro 	   = 1.23;                 %air density
    param.C_drag   = 0.2313;               %drag coefficient

    %% Vehicle Mass/Inertia [Variable]
    param.m    = 936;                 %vehicle mass
    param.Jz   = 1233;                %yaw inertial
    param.Jx   = 341;                 %roll inertia
    param.Jy   = 1323;                %pitch inertia
    param.J_3D = [param.Jx 0 0; 0 param.Jy 0; 0 0 param.Jz];

    %% Vehicle Geometry [Fixed]
    param.A=1.5;                  % frontal area (aero)
    param.L=2.67;                 % wheelbase
    param.f=param.L/2;            % cg till front axle
    param.lambda=param.f/param.L;
    param.b=param.L-param.f;      % dist cg to rear axle
    param.wbf=1.50;               % track width front
    param.wbr=1.50;               % track width rear
    param.wb=param.wbf;			  % track width
    param.r_whl = 0.365; 		  % [m] radius of the wheel

    %% Vehicle Geometry [Variable]
    param.h=0.560;                % cg height
    param.ef=0.1;                 % Roll centre height front
    param.eb=0.1;                 % Roll centre height rear
    param.ep=0;                   % Pitch axle height

    % vector for each corner to the CG
    param.r_corner = [param.f param.f -param.b -param.b
                    param.wbf/2 -param.wbf/2 param.wbf/2 -param.wbf/2
                    -param.h -param.h -param.h -param.h];

    %% Drivetrain
    param.brk_coeff = 38; %28.5255; % from psi to N
    param.drive_coeff = 0.9260; % from Nm to Nm

    %% Suspension
    param.camber = [0 0 0 0]; % camber angle

    % Spring stiffness
    kf=68000;
    kr=68000;
    param.k = [kf kf kr kr];

    % Damping
    df=2200*1;
    dr=2200*1;
    dff=000; %Damper friction
    drf=000; %Damper friction
    param.d = [df df dr dr];
    param.d_f = [dff dff drf drf];

    % Stabilizer
    k_sway_f=12006*0;k_sway_b=10088*0;
    param.k_sway = [k_sway_f k_sway_f k_sway_b k_sway_b];

    % Scrub radius
    param.scrub = 0.00;

    % suspension spring preload
    param.F_preload = param.m * param.g * [param.b/2/(param.f+param.b)
                                           param.b/2/(param.f+param.b)
                                           param.f/2/(param.f+param.b)
                                           param.f/2/(param.f+param.b)]';

    % Steering geometry
    param.I_whl_str = 0.8;         % moment of inertial of the wheel for steering
    param.I_whl_spin = 1.3; 		% moment of inertial of the wheel for spinning
    param.d_whl_str = 7; % damping of wheel steering
    param.f_whl_str = 5;   % friction  of wheel steering


    %% Tyre model data
    param.mu=1.0*[1 1 1 1]*1;       %tyre/road friction
    param.relax=0.15*0.1;             %relaxationslength
    param.load_sensetivity=0.25*1;  %tyre load sensetivity
    param.Fz0=2500;       %nominal tyre load

    % C12=19;           %stiffnes of the MagicFormula model.
    % C34=19;

    % Initialization
    param.Fz_min=0;

    % Create MATLAB bus for simulink sim
    %busInfo = Simulink.Bus.createObject(param);
end