1.

𝑠 + 𝑘𝑟 − (1 + k)𝑐 = 0
𝑍𝑟
2 𝑘=
𝑍𝑠

(
1+𝑘1 1+𝑘2 )( ) (1+𝑘1 +𝑘2 )(1+𝑘3 )
𝑀𝐺1 − 𝑒
3 [ ]= [ 𝑘1 𝑘2 𝑘1 𝑘2 ] [ ]
𝑀𝐺2 𝑜𝑢𝑡
0 1 + 𝑘3
1+𝑘2 1+𝑘1 +𝑘2
𝑀𝐺1 − − 𝑒
4 [ ] = [ 𝑘1 𝑘1 ] [ ]
𝑀𝐺2 1 + 𝑘2 −𝑘2 𝑜𝑢𝑡

(1+𝑘1 )(1+𝑘2 )
−𝐽𝑒 − 𝑀𝐺1 𝐽 0
𝑘1 𝑘2
5 [ (1+𝑘1 +𝑘2 )(1+𝑘3 )
]
0 − 𝐽𝑀𝐺1 (1 + 𝑘3 )𝐽𝑀𝐺2
𝑘 𝑘 1 2

𝑒̇
[̇ 𝑀𝐺1 ] =
̇ 𝑀𝐺2
(1+𝑘1 )(1+𝑘2 ) 𝑇𝑒
−1 − 0 0 𝑇
𝑘1 𝑘2
[ ] [ 𝑀𝐺1 ]
−1 𝑇𝑀𝐺2
(1+𝑘1 +𝑘2 )(1+𝑘3 )
0 − 1 + 𝑘3
𝑘 𝑘 1 2 𝑇𝑜𝑢𝑡
 1+𝑘2
−𝐽𝑒 − 𝐽 −(1 + 𝑘2 )𝐽𝑀𝐺2
𝑘1 𝑀𝐺1
6 [ 1+𝑘1 +𝑘2 ]
0 − 𝐽𝑀𝐺1 −𝑘2 𝐽𝑀𝐺2
𝑘 1

1 + 𝑘2 𝑇𝑒
𝑒̇ −1 −1 − 𝑘2 0
𝑘1 𝑇
[̇ 𝑀𝐺1 ] = [ 𝑀𝐺1 ]
1 + 𝑘1 + 𝑘2 𝑇𝑀𝐺2
̇ 𝑀𝐺2 0 − −𝑘2 −1 𝑇
[ 𝑘1 ] 𝑜𝑢𝑡
̇
𝑇𝑜𝑢𝑡 1
7 𝑚𝑉 = − 2 𝐶𝑑 𝐴𝑓 𝑉 2 − 𝑚𝑔 cos() − 𝑚𝑔 sin()
𝑟𝑤

𝑟𝑤 𝑜𝑢𝑡
8 𝑉=
𝑖𝑓

9 𝑇𝑑𝑟𝑖𝑣𝑒 = 𝑖𝑓 𝑇𝑜𝑢𝑡 + 𝑇𝑏𝑟𝑎𝑘𝑒

10 𝑚̇𝑓 = 𝑓𝑒 (𝑒 , 𝑇𝑒 )
2 −4𝑃
−𝑉𝑂𝐶 +√𝑉𝑂𝐶 𝑏𝑎𝑡𝑡 𝑅𝑏𝑎𝑡𝑡
̇ =
11 𝑆𝑂𝐶
2𝐶𝑏𝑎𝑡𝑡 𝑅𝑏𝑎𝑡𝑡

𝑙𝑜𝑠𝑠 𝑙𝑜𝑠𝑠
12 𝑃𝑏𝑎𝑡𝑡 = 𝑃𝑀𝐺1 + 𝑃𝑀𝐺2 + 𝑃𝑀𝐺1 + 𝑃𝑀𝐺2
(‖𝑥−𝑐𝑖 ‖2 )
13 𝑦𝑗 = ∑𝑛𝑖=0 𝑖𝑗 𝑒𝑥𝑝 (− ) 𝑗 = 1,2, … , 𝑝
22

14 𝑥̇ = 𝑓(𝑥, 𝑢, 𝑣) 𝑦 = 𝑔(𝑥, 𝑢, 𝑣)
𝑇𝑒_𝑑 𝑉𝑑𝑒𝑚𝑎𝑛𝑑 𝑆𝑂𝐶
𝑥 = [𝑆𝑂𝐶] 𝑢 = [ ] 𝑣 = [ ] 𝑦 = [ 𝑚̇ ]
𝑒_𝑑 𝑇𝑑𝑒𝑚𝑎𝑛𝑑 𝑓
15 𝑆𝑂𝐶𝑚𝑖𝑛 ≤ 𝑆𝑂𝐶 ≤ 𝑆𝑂𝐶𝑚𝑎𝑥
𝑇𝑒_𝑑_𝑚𝑖𝑛 ≤ 𝑇𝑒_𝑑 ≤ 𝑇𝑒_𝑑_𝑚𝑎𝑥
∆𝑇𝑒_𝑑_𝑚𝑖𝑛 ≤ ∆𝑇𝑒_𝑑 ≤ ∆𝑇𝑒_𝑑_𝑚𝑎𝑥
𝑇𝑀𝐺1_𝑚𝑖𝑛 ≤ 𝑇𝑀𝐺1 ≤ 𝑇𝑀𝐺1_𝑚𝑎𝑥
𝑇𝑀𝐺2_𝑚𝑖𝑛 ≤ 𝑇𝑀𝐺2 ≤ 𝑇𝑀𝐺2_𝑚𝑎𝑥
𝑒_𝑑_𝑚𝑖𝑛 ≤ 𝑒_𝑑 ≤ 𝑒_𝑑_𝑚𝑎𝑥
∆𝑒_𝑑_𝑚𝑖𝑛 ≤ ∆𝑒_𝑑 ≤ ∆𝑒_𝑑_𝑚𝑎𝑥
𝑀𝐺1_𝑚𝑖𝑛 ≤ 𝑀𝐺1 ≤ 𝑀𝐺1_𝑚𝑎𝑥
𝑀𝐺2_𝑚𝑖𝑛 ≤ 𝑀𝐺2 ≤ 𝑀𝐺2_𝑚𝑎𝑥

𝑡
16 𝐽 = ∫𝑡 ℎ (𝑤𝑠 (𝑆𝑂𝐶 (𝑡) − 𝑆𝑂𝐶𝑟 )2 +
0
2 2 2
𝑤𝑚 (𝑚̇𝑓 (𝑡)) ) + 𝑤𝑡 (∆𝑇𝑒 (𝑡)) + 𝑤𝑤 (∆𝑒 (𝑡)) 𝑑𝑡 +
𝑤ℎ (𝑆0𝐶 (𝑡ℎ ))