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N
S
N
S
s + b
s + a
K
pole_pairs
complex
Sum of N
Displace-
ment
Force
pole_pairs
complex
Sum of N
V
D
V
D
V
D
V
D
PWM
K
vca
diff1
qgen1
comp2
1.0
100
25.0
u1
u2
battery
28
d2v1
d2v2
d2v3
d2v4
pwm1
10.0e3
sum5
gain3
90
qsrc4
0.5
dp
r4
50
r3
50
r2
50
r1
50
friction
m1
m2
m3
m4
pos_base
v_drive_pos
command
error
feedback
base_displacement
reaction_force
v_batt
v_drive_neg
duty_cycle
duty_bias
d_pwm
d_gate_inv
v_gate_m4
v_gate_m3
v_gate_m2
v_gate_m1
d_gate
d_gate
d_pwm_inv
d_enable