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Root-locus diagram for (a) collocated and (b) non-collocated control(a, b) eigenvalues of the collocated system for... Figure 1 from sliding mode control for underactuated slosh-containerNonlinear control.
Block diagram of control system
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The block diagram of control system for regenerative ABS plant
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Root loci of closed loop poles of the velocity feedback non-collocated