or in matrix form

One can write Eq. (37) in state space form by defining the state vector X and the output vector Y as defined in section 2.2

Y = N + , where ® =diag[^,^2], and N = [y ,jf . Having defined the necessary matrices, we can utilize the adaptation law given by Eq. (10):

]p = rwTH-ty, where H and W are defined in Eq. (36). 3.4 Suction control

One can write the system's governing dynamics, in matrix form as:

a11u cosf — r sinf u cosf + a12u cosf b11u 2cos| b12u 2cos|

b21u b22u or in vector form as

With the objective of tracking desired trajectories, the sliding surfaces S1 and S2 are chosen as si(y ,t ) = y + Xy =0

s 2(j,t) = jj + Xjj = 0. The terms s1 and s2 are also called combined tracking errors, and can be written as

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This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

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