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並前往https://books.google.com.tw/books?id=RTvADAAAQBAJ&pg=PA190&lpg=PA190&dq=control+t&source=bl&ots=QT6iYQUQxy&sig=ACfU3U1D6x7VjHXlaLGim52A9gcWtnZe-Q&hl=zh-TW&sa=X&ved=2ahUKEwir2tGsoab0AhVPJbkGHT6_BJgQ6AF6BQjEAhAD

Springer Handbook of Robotics - 第 190 頁 - Google 圖書結果

PID Control Experiment (Multimedia) According as the gains change, ... Considering the P-type learning control law, we have kC1 .t/ D k.t/ ˆqk.t/; (8.137) ...

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