NSNSvcaVqgen1Kgain15ks + bs + aKcomp21.010025limit228-28sum4qsrc32000pole_pairscomplexSum of Nu1Displace-mentForcepole_pairscomplexSum of Nu2pos_basev_drivecommanddrive_voltage_unlimitederrorfeedbacksensor_displacementdrive_voltagebase_displacementreaction_force