Page 140 - Concise Encyclopedia of Robotics

Generator
Sine Square

Sawtooth Ramp

Triangular Irregular

Generator—Fig. 1

disturbances can be expressed as mathematical functions of time,although
the functions are complicated in some cases.
Most function generators can produce sine waves, sawtooth waves, and
square waves. Some can also produce sequences of pulses. More sophisti-
cated function generators that can create a large variety of different

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