...
The transfer function of the system is
X(s) = (-v0 * d * w + alpha * v0^2 * c + alpha * v0^2 * m) / (s * (w * s^2 + alpha * v0^2 * k2 * s + alpha * v0^2 * k1))
For the derivation of the transfer function check formulae.pdf.
DOCUMENTATION EXPANSION
These are likely to be expanded and moved on the main wiki page at some point.
...