Pedro Tavares, Paulo Tabuada, ‡



Download 1.52 Mb.
Page12/16
Date23.04.2018
Size1.52 Mb.
1   ...   8   9   10   11   12   13   14   15   16
Equation (9) is used to predict the evolution of the angular velocity produced by a given control torque by discretising it, considering a small time step t:
(10)
which may be written as2:
(11)
and the prediction equation is obtained by discarding the higher order terms:
(12)

Download 1.52 Mb.

Share with your friends:
1   ...   8   9   10   11   12   13   14   15   16




The database is protected by copyright ©ininet.org 2020
send message

    Main page