Controller Design and Experimental Verification of a

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troller is implemented on two exercise machine platforms, controller may at times be required to inject stored ..... The discrepancy at ~ 6.0 rad. is near the singularity of ... Tr. P: 77.2 | 205.6 140.3 80.0 | 57.8 272.7 | 290.9 105.2 | 153.7+91.5.

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