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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 sed me The eperatin in the computer needs time: after a delay of T extended Sptem wiw } f r these paxunetrs Us tes | Ue , Hee EAL Go ~ ace teluleted inder the contleration of See as Hime delug if TeSqoT, mo need Yo cwsider To Use them fer the a olgorithm

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