(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+𝑘 )(1+𝑘 )
1 2
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)
𝑇 𝑉 𝑆𝑂𝐶
𝑥 = [𝑆𝑂𝐶] 𝑢 = [𝑒_𝑑 ] 𝑣 = [ 𝑑𝑒𝑚𝑎𝑛𝑑 ] 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 2
16 𝐽= ∫𝑡 ℎ (𝑤𝑠 (𝑆𝑂𝐶 (𝑡) − 𝑆𝑂𝐶𝑟 )2 + 𝑤𝑚 (𝑚̇𝑓 (𝑡)) ) +
0
2 2
𝑤𝑡 (∆𝑇𝑒 (𝑡)) + 𝑤𝑤 (∆𝑒 (𝑡)) 𝑑𝑡 + 𝑤ℎ (𝑆0𝐶 (𝑡ℎ ))

𝑝 𝑁 −1
17 𝐽 = ∑𝑖=0 (𝑤𝑠 (𝑆𝑂𝐶 (𝑘 + 𝑖 + 1) − 𝑆𝑂𝐶𝑟 )2 +
2 𝑁 −1 2
𝑝
𝑤𝑚 (𝑚̇𝑓 (𝑘 + 𝑖 )) ) + ∑𝑖=0 (𝑤𝑡 (∆𝑇𝑒 (𝑘 + 𝑖 )) +
2
𝑤𝑤 (∆𝑒 (𝑘 + 1)) ) + 𝑤ℎ (𝑆𝑂𝐶(𝑘 + 𝑁𝑝 ))

18 𝐿𝑘+∆𝑘 (𝑆𝑂𝐶 (𝑗), 𝑢(𝑗)) = min {𝑤𝑠 (𝑆𝑂𝐶 (𝑗) −

𝑢(𝑗 )
2 2
𝑆𝑂𝐶𝑟 )2 + 𝑤𝑚 (𝑚̇𝑓 (𝑢(𝑗))) + 𝑤𝑡 (∆𝑇𝑒 (𝑢(𝑗))) +
2
𝑤𝑤 (∆𝑒 (𝑢(𝑗))) }
 ∗
19 𝐽𝑘+0 (𝑆𝑂𝐶 (𝑗)) = 𝐿𝑘+0 (𝑆𝑂𝐶 (𝑗), 𝑢(𝑗))

∗ ∗
20 𝐽𝑘+∆𝑘+1 (𝑆𝑂𝐶 (𝑗)) = min{𝐽𝑘+∆𝑘 (𝑆𝑂𝐶 (𝑗)) +
𝑢(𝑗 )
𝐿𝑘+∆𝑘+1 (𝑆𝑂𝐶 (𝑗), 𝑢(𝑗))}

∗
21 𝐽 = min {𝐽𝑘+𝑁𝑝 −1
(𝑆𝑂𝐶 (𝑗)) + 𝑤ℎ (𝑆𝑂𝐶 (𝑗))}

(1+𝑘1 )(1+𝑘2 ) (1+𝑘1 +𝑘2 )(1+𝑘3 )

𝑀𝐺1_𝑑 − 𝑒_𝑑
22 [ ]= [ 𝑘1 𝑘2 𝑘1 𝑘2 ] [ ]
𝑀𝐺2_𝑑 𝑜𝑢𝑡
0 1 + 𝑘3

𝑀𝐺1_𝑑 −
1+𝑘2
−
1+𝑘1 +𝑘2
𝑒_𝑑
23 [ ] = [ 𝑘1 𝑘1 ] [ ]
𝑀𝐺2_𝑑 𝑜𝑢𝑡
1 + 𝑘2 −𝑘2