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APPENDIX

TABLE 1
System Parameters

Parameter Value
Motor Mass [mi] 20kg
Load Mass [m 2] 4kg
Proportional Gain [K v] 10000
Integral Gain [K[] 0.1
Compensation Gain [KA] 220
Spring Constant [k] 13700N/m
Damping [b] 6Ns/m

References

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Hirvonen M., Pyrhonen, O. and Handroos, H. (2004). Force Ripple Compensator for a Vector
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