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Attempted to straighten out italics
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@ -89,8 +89,8 @@ keywords described above. The discretized version of this equation is:
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:c,image(Eqs/fix_controller2.jpg)
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where {tau} = {Nevery}*timestep is the time interval between updates,
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and the subsripted variables indicated the values of {c} and {e} at
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where {tau} = {Nevery} * {timestep} is the time interval between updates,
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and the subscripted variables indicate the values of {c} and {e} at
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successive updates.
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From the first equation, it is clear that if the three gain values
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