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Secondly, the kinematic controllers are designed with equivalent control of the proportional-integral-derivative sliding mode control (PID-SMC).
Furthermore, equivalent control concept allows a straightforward tuning of the controller parameters.
To attain the equivalent control torque, the derivative of Eqs.
Generally, the SMC have two parts: equivalent control U eq and switching control U sw.
It thus follows from (6) and that an equivalent control law can be designed as (7).
Open image in new window Fig. 7 Equivalent control block of filter-capacitor current feedback loop.
Similar(16)
Quasi experiment with the non-equivalent control group design was used for this study.
The research design is non-equivalent control group design with posttest only.
A pre-test, post-test, non-equivalent control group design was adopted for the study.
This is a quasi-experimental study, using a pre- and post-test design with a non-equivalent control group (Cozby 2009), and a quantitative and longitudinal approach.
It is a quasi-experimental research, using a pre- and post-test evaluation with a non-equivalent control group, including 82 participants, who were public workers near retirement.
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