tabella e sua caption

Salve,

nell’arte di Pantieri non ho trovato come inserire la caption in basso ad una tabella in ambiente tabular. Ho il seguente codice:

`
\begin{table}[!htb]
\centering
\begin{tabular}{llll}
\hline
parameter &notation &value &u.m. (SI) \\
\hline \\ [-1.5ex]
$\mathit{M_f}$ &mass of front frame &$30.6472$ &\si{\kilo\gram} \\
$\mathit{M_r}$ &mass of rear frame &$217.4492$ &\si{\kilo\gram} \\
$\mathit{Z_f}$ &front vertical force &$-1005.3$ &\si{\newton} \\
$\mathit{I_{r_x}}$ &rear frame inertia $x$ axis &$31.184$ &\si{\kilo\gram\square\metre} \\
$\mathit{I_{r_z}}$ &rear frame inertia $z$ axis &$21.069$ &\si{\kilo\gram\square\metre} \\
$\mathit{C_{rxz}}$ &product of inertia $xz$ &$1.7354$ &\si{\kilo\gram\square\metre} \\
$\mathit{I_{f_x}}$ &front frame inertia $x$ axis &$1.2338$ &\si{\kilo\gram\square\metre} \\
$\mathit{I_{f_z}}$ &front frame inertia $z$ axis &0.442
&\si{\kilo\gram\square\metre} \\
$\mathit{\epsilon}$ &caster angle &0.4715 &\si{\radian} \\
$\mathit{a}$ &distance between A and B &0.9485 &\si{\metre} \\
$\mathit{b}$ &distance between A and P &0.4798 &\si{\metre} \\
$\mathit{e}$ &$\mathit{x}$ position of $\mathit{G_r}$ &0.024384 &\si{\metre} \\
$\mathit{f}$ &$\mathit{z}$ position of $\mathit{G_f}$ &0.028347 &\si{\metre} \\
$\mathit{h}$ &$\mathit{z}$ position of $\mathit{G_r}$ &0.6157 &\si{\metre} \\
$\mathit{R_r}$ &rear wheel radius &0.3048 &\si{\metre} \\
$\mathit{R_f}$ &front wheel radius &0.3048 &\si{\metre} \\
$\mathit{t}$ &trail &0.11582 &\si{\metre} \\
[0.5ex]
\hline
\end{tabular}
\label{tabella_sharp71}
\end{table}
`

Dove si inserisce correttamente la caption sotto alla tabella?

Riccardo