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,
1 u u
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.