NSNSs + bs + aKpole_pairscomplexSum of NDisplace-mentForcepole_pairscomplexSum of NVDVDVDVDPWMKvcadiff1qgen1comp21.010025.0u1u2battery28d2v1d2v2d2v3d2v4pwm110.0e3sum5gain390qsrc40.5dpr450r350r250r150frictionm1m2m3m4pos_basev_drive_poscommanderrorfeedbackbase_displacementreaction_forcev_battv_drive_negduty_cycleduty_biasd_pwmd_gate_invv_gate_m4v_gate_m3v_gate_m2v_gate_m1d_gated_gated_pwm_invd_enable