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N
S
N
S
vca
V
qgen1
K
gain1
5k
s + b
s + a
K
comp2
1.0
100
25
limit2
28
-28
sum4
qsrc3
200
0
pole_pairs
complex
Sum of N
u1
Displace-
ment
Force
pole_pairs
complex
Sum of N
u2
pos_base
v_drive
command
drive_voltage_unlimited
error
feedback
sensor_displacement
drive_voltage
base_displacement
reaction_force