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[]
][ ] [
m =[ K mpm K mfm ]
s=[ K spm K sfm
[
[
m = k pm k vm
s= k ps +k vs
m =[ 0 0 ]
xm
x
+ K sps K sfs s
fm
fs
d
dt
d
dt
[ ][
][ ] [
][ ] [
0
xm
d
+ k pm +k vm
dt
fm
xm
d
+ k ps k vs
dt
fm
][ ]
xs
fs
][ ]
][ ]
][ ]
xs
fs
[]
xm
x
+ 0 k f ] s
fm
fs
s= k ps +k vs
d
dt
m =[ 0 k fm ]
[ ][
[]
][ ]
xm
x
+ [ K mps K mfs ] s
fm
fs
s= k ps +k vs
][ ] [
xm
d
+ k ps k vs
dt
fm
xs
fs
[]
xm
x
+ 0 k fs ] s
fm
fs
d
dt
][ ] [
xm
d
+ k ps k vs
dt
fm
xs
fs