mcdp {
provides lift [N]
requires power [W]
requires actuator_mass [g]
# Maximum lift provided
provided lift <= 10 N
# Mass of this actuator
required actuator_mass >= 150 g
# Power as a function of lift
p0 = 1 W
p1 = 1.5 W/N^2
l = provided lift
required power >= p0 + p1 * (l^2)
}