Advanced — Control
e
\ tkT — keNo
T: constant sampling time
Chet) = kp @ CkT) + fr + Kyte ray ee 1)
dett) _,, erty-ertat? eckT)-e(kT-T)
ae
e ;
ea
Recursive algorithm
ent: ule] =heleT]+ Her Bect)+ HCI Jojo ehsrT]
kT Ute OT) + BUceT) = WRT)
aulueT) = utkt)— upeevT]
Kel
aucen=I ecer)-eftevT]] + Heeler er (euen- pe(eeT) ete)
e > UleT)= Un, e(eD= Ce, Uften T]= Ue
Kel Te
dec lest (Ket SEE) + Oe cht ttt 27 )t Ons
ke Pa ke
Kot, xR OTR RAPL HO
(ieceode yeeros + TEE wl
(hewerdemrecrr+ teen" erect) = TET)
ff eceide = Hert 207) 4 Fleer] + eUevf
Hi
Ffew+ eur + 28e 07}cm | coe
: = ie
= gee [yest
a gee [pen eae
= Foon | tare Sahin
En sine
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after a delay of T
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a olgorithm