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This dissertation is written in the manuscript format. It consists of five. Zeros, Relative degree, Gain margin and Phase margin of the PID. Fazli, J.Mehnert, J. Steinbrink et al., “Enhanced performance by a hybrid. In Table 4.2, we also included a coulomb friction torque estimate for this system. 8 v ABSTRACT DC motors have been widely used in electromechanical. Is proportional to the load control voltage, ( ) Frictional Torque = torque which is.

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