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Controller.txt
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Controller.txt
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time 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150
Ktheta 0.65640000 0.65640000 0.63100000 1.12500000 1.64570000 1.44300000 1.56960000 1.80000000 1.54630000 1.30710000 1.31000000 1.36510000 0.68230000 0.62940000 0.63600000 0.66300000
Kthetad 0.47000000 0.47000000 0.40000000 0.35100000 0.45000000 0.47000000 0.48900000 0.50000000 0.51700000 0.43440000 0.37450000 0.42130000 0.22620000 0.27000000 0.21330000 0.22000000
Kz -0.00005700 -0.00005700 -0.00003600 -0.00004500 -0.00003000 -0.00003000 -0.00105000 -0.00004500 -0.00015000 -0.00003000 -0.00006000 -0.00150000 -0.00006000 -0.00090000 -0.00060000 -0.00030000
Kzd -0.00050000 -0.00050000 -0.00150000 -0.00015000 -0.00011000 -0.00010000 -0.00400000 -0.00100000 -0.00100000 -0.00014000 -0.00020000 -0.00500000 -0.00110000 -0.00200000 -0.00120000 -0.00100000
LP zeta zero 0.20000000
LP zeta pole 0.50000000
LP omega 20.48321678 20.81888112 21.15454545 21.49020979 21.82587413 22.16153846 22.49720280 22.83286713 24.22000000 25.87000000 27.52000000 29.17000000 30.82000000 32.47000000 34.12000000 35.77000000