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<math> |
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<math> |
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x[n+1] = x[n] + \gamma(u[n]-x[n]) - K_P\sum_{m=1}^N(\frac{1}{N}x_m[n]) + K_I*\sum_{m=1}^N(\frac{1}{N}w_m[n]) |
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x[n+1] = x[n] + \gamma(u[n]-x[n]) - K_P\sum_{m=1}^N(\frac{1}{N}x_m[n]) + K_I\sum_{m=1}^N(\frac{1}{N}w_m[n]) |
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</math> |
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<math> |
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w[n+1] = w[n] K_I\sum_{m=1}^N(\frac{1}{N}x_m[n]) |
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</math> |
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</math> |
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Revision as of 01:57, 5 July 2009
test
![{\displaystyle x[n+1]=x[n]+\gamma (u[n]-x[n])-K_{P}\sum _{m=1}^{N}({\frac {1}{N}}x_{m}[n])+K_{I}\sum _{m=1}^{N}({\frac {1}{N}}w_{m}[n])}](https://wikimedia.org/api/rest_v1/media/math/render/svg/cedd8af092390dc389c578ef12acb145ac511c1c)
![{\displaystyle w[n+1]=w[n]K_{I}\sum _{m=1}^{N}({\frac {1}{N}}x_{m}[n])}](https://wikimedia.org/api/rest_v1/media/math/render/svg/56814966a9daaeee7c85b452b2ecf95375349777)
Spur Gears
Rack and Pinion
Bevel Gears
Helical Gears
Worm Drives
Planetary Gears
Ball Screw
Harmonic Drive Gears
