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Plloop
Plloop
Plloop
∅ ∅𝑒 + + ∅′
𝑉 + 𝐾𝑝 +
𝐾𝑖 + 2π
+ 𝜏𝑝 𝑠 + 1 𝑠 𝑠
- ∅′
𝐷(𝑠) 𝑊𝑏
∅ ∅𝑒 + + ∅′
𝑉 + 𝐾𝑝 +
𝐾𝑖 + 1
+ 𝜏𝑝 𝑠 + 1 𝑠 𝑠
- ∅′
𝑓𝑏
∅ ∅𝑒 ω𝑐 + ∅′
𝑉𝑚 𝐾𝑝 +
𝐾𝑖
𝑒 −𝑠𝑇𝑑 + 2π
+ 𝑠 + ω𝑐 𝑠 𝑠
- ∅′