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            G =                

Step 1 Step 2

Now it is also possible to consider the Coulomb frictions as disturbances and the cosine value of δ2 as an uncertain parameter h between -1 and +1. Thus, it is easy to find the following linear transfer functions, utilizing Eqs. (10.50) to (10.52), which are the elements of the plant P defined as,

 

 

 =

 

= 

 2

1 u u

u u

Pδ δ

(10.53)

Table 10.1 Parameters with uncertainty (uniform probability distribution). They are multiplied by a gain of k = 75 [ct/N⋅m] due to the electronic power amplifier.