The sandbox

test

$(-3dBpoint)=\frac{1}{2\pi }(R1*R2*C1*C2{)}^{\frac{1}{2}}$

$x[n+1]=x[n]+\gamma (u[n]-x[n])-K_P\sum _{j=1}^N(\frac{1}{N}{x}_j[n])+K_I\sum _{j=1}^N(\frac{1}{N}{w}_j[n])$

$w[n+1]=w[n]-K_I\sum _{j=1}^N(\frac{1}{N}{x}_j[n])$

$\left[\begin{array}{c}{\dot{u}}_x\\ {\dot{u}}_y\\ \end{array}\right]=\left[\begin{array}{ccccc}1& 0& 2(R_x-x_{Mx})& (R_y-x_{My})& 0\\ 0& 1& 0& (R_x-x_{Mx})& 2(R_y-x_{My})\\ \end{array}\right]\left[\begin{array}{ccccc}{k}_{Mx}& 0& 0& 0& 0\\ 0& k_{My}& 0& 0& 0\\ 0& 0& k_{Mxx}& 0& 0\\ 0& 0& 0& k_{Myy}& 0\\ 0& 0& 0& 0& k_{Mxy}\\ \end{array}\right]\left[\begin{array}{c}{g}_{Mx}-x_{Mx}\\ g_{My}-x_{My}\\ g_{Mxx}-x_{Mxx}\\ g_{Myy}-x_{Myy}\\ g_{Mxy}-x_{Mxy}\\ \end{array}\right]$

Spur Gears

	File:Gear-spurgearhead.png

Rack and Pinion

Bevel Gears

Helical Gears

Worm Drives

Planetary Gears

Ball Screw

Harmonic Drive Gears

File:Harmonic gears.png