diff --git a/eoms.tex b/eoms.tex
new file mode 100644
index 0000000..7ead380
--- /dev/null
+++ b/eoms.tex
@@ -0,0 +1,13 @@
+\begin{bmatrix}
+  0 \\
+  0 \\
+  0 \\
+  0
+\end{bmatrix}
+=
+\begin{bmatrix}
+\omega_{a} - \dot{\theta}_{a}\\
+\omega_{h} - \dot{\theta}_{h}\\
+d_{L} g m_{L} \operatorname{sin}\left(\theta_{a}\right) + d_{L} m_{L} a \operatorname{cos}\left(\theta_{a}\right) + d_{T} g m_{T} \operatorname{sin}\left(\theta_{a} + \theta_{h}\right) + d_{T} l_{L} m_{T} \left(\omega_{a} + \omega_{h}\right)^{2} \operatorname{sin}\left(\theta_{h}\right) - d_{T} l_{L} m_{T} \omega^{2}_{a} \operatorname{sin}\left(\theta_{h}\right) + d_{T} m_{T} a \operatorname{cos}\left(\theta_{a} + \theta_{h}\right) + g l_{L} m_{T} \operatorname{sin}\left(\theta_{a}\right) + l_{L} m_{T} a \operatorname{cos}\left(\theta_{a}\right) - \left(I_{T} + d_{T} m_{T} \left(d_{T} + l_{L} \operatorname{cos}\left(\theta_{h}\right)\right)\right) \dot{\omega}_{h} - \left(I_{L} + I_{T} + d_{L}^{2} m_{L} + m_{T} \left(d_{T}^{2} + 2 d_{T} l_{L} \operatorname{cos}\left(\theta_{h}\right) + l_{L}^{2}\right)\right) \dot{\omega}_{a} + T_{h}\\
+d_{T} g m_{T} \operatorname{sin}\left(\theta_{a} + \theta_{h}\right) - d_{T} l_{L} m_{T} \omega^{2}_{a} \operatorname{sin}\left(\theta_{h}\right) + d_{T} m_{T} a \operatorname{cos}\left(\theta_{a} + \theta_{h}\right) - \left(I_{T} + d_{T}^{2} m_{T}\right) \dot{\omega}_{h} - \left(I_{T} + d_{T} m_{T} \left(d_{T} + l_{L} \operatorname{cos}\left(\theta_{h}\right)\right)\right) \dot{\omega}_{a} + T_{a}
+\end{bmatrix}
\ No newline at end of file
diff --git a/src/constants_tables.py b/src/constants_tables.py
new file mode 100644
index 0000000..9f3ae2a
--- /dev/null
+++ b/src/constants_tables.py
@@ -0,0 +1,66 @@
+#!/usr/bin/env python
+
+import os
+
+import sympy as sm
+from sympy.physics.vector import vlatex
+
+from model import QuietStandingModel
+import utils
+
+paths = utils.config_paths()
+
+m = QuietStandingModel()
+m.derive()
+
+# Generate the equations of motion: fr + fr*
+fr_plus_frstar = sm.trigsimp(m.fr_plus_frstar)
+
+template = \
+r"""\begin{{bmatrix}}
+  0 \\
+  0 \\
+  0 \\
+  0
+\end{{bmatrix}}
+=
+\begin{{bmatrix}}
+{rows}
+\end{{bmatrix}}"""
+
+rows = []
+for row in m.kin_diff_eqs + tuple(fr_plus_frstar):
+    rows.append(vlatex(row))
+
+with open(os.path.join(paths['project_root'], 'eoms.tex'), 'w') as f:
+    f.write(template.format(rows='\\\\\n'.join(rows)))
+
+# Generate a table for the open loop model constants. This should have three
+# columns: latex variable name, value, units
+
+units = {'d': r'\si{\meter}',
+         'l': r'\si{\meter}',
+         'm': r'\si{\kilogram}',
+         'I': r'\si{\kilogram\meter\squared}',
+         'g': r'\si{\meter\per\second\squared}'}
+
+template = \
+r"""
+\begin{{tabular}}{{llll}}
+  \toprule
+  Variable & Description & Value & Units \\
+  \midrule
+{rows}
+  \bottomrule
+\end{{tabular}}"""
+
+rows = []
+for var, val in m.open_loop_par_map.items():
+
+    row_tmp = r'${}$ & {} & {:1.3f} & {} \\'
+    rows.append(row_tmp.format(vlatex(var), 'booger', val, units[str(var)[0]]))
+
+with open(os.path.join(paths['tables_dir'], 'constants-table.tex'), 'w') as f:
+    f.write(template.format(rows='\n'.join(rows)))
+
+# Generate a table of the known gains.
diff --git a/tables/constants-table.tex b/tables/constants-table.tex
new file mode 100644
index 0000000..6a7903a
--- /dev/null
+++ b/tables/constants-table.tex
@@ -0,0 +1,15 @@
+
+\begin{tabular}{llll}
+  \toprule
+  Variable & Description & Value & Units \\
+  \midrule
+$l_{L}$ & booger & 0.878 & \si{\meter} \\
+$d_{L}$ & booger & 0.572 & \si{\meter} \\
+$d_{T}$ & booger & 0.314 & \si{\meter} \\
+$m_{L}$ & booger & 32.126 & \si{\kilogram} \\
+$m_{T}$ & booger & 48.831 & \si{\kilogram} \\
+$I_{L}$ & booger & 1.799 & \si{\kilogram\meter\squared} \\
+$I_{T}$ & booger & 2.481 & \si{\kilogram\meter\squared} \\
+$g$ & booger & 9.810 & \si{\meter\per\second\squared} \\
+  \bottomrule
+\end{tabular}
\ No newline at end of file