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The linearized forms of the nonlinear equations of Chap. 5 are developed in this appendix. In what follows, c and s correspond to the cosine and sine functions. A variable over-lined with a bar denotes an operating point value and the variable h corresponds to the sampling time.
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© 2008 Springer-Verlag Berlin Heidelberg
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Lamon, P. (2008). Linearized Models. In: 3D-Position Tracking and Control for All-Terrain Robots. Springer Tracts in Advanced Robotics, vol 43. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-78287-2_8
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DOI: https://doi.org/10.1007/978-3-540-78287-2_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-78286-5
Online ISBN: 978-3-540-78287-2
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