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Line 3: |
Line 3: |
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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_{j=1}^N(\frac{1}{N}x_m[n]) + K_I\sum_{j=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_{j=1}^N(\frac{1}{N}x_j[n]) + K_I\sum_{j=1}^N(\frac{1}{N}w_j[n]) |
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</math> |
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</math> |
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<math> |
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<math> |
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w[n+1] = w[n] - K_I\sum_{j=1}^N(\frac{1}{N}x_m[n]) |
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w[n+1] = w[n] - K_I\sum_{j=1}^N(\frac{1}{N}x_j[n]) |
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</math> |
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</math> |
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Revision as of 23:39, 5 July 2009
test
Spur Gears
Rack and Pinion
Bevel Gears
Helical Gears
Worm Drives
Planetary Gears
Ball Screw
Harmonic Drive Gears