Friction:

Path: SC/Actuator

% Computes friction torques based on a model with an exponential term.

   t = -(sign(w)*tC*(1 - exp(-abs(w)/wC)) + c*w + sign(w)*d*w^2)

   The exponential term prevents jitter due to finite integration time steps.

   Since version 2.
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   Form:
   t = Friction( tC, w, c, wC, d )
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   ------
   Inputs
   ------
   tC	      (n,1)   Coulomb friction
   w         (n,:)   Angular rates
   c         (n,1)   Viscous friction coefficient
   wC        (n,1)   Low frequency cutoff
   d         (n,1)   Turbulent damping

   -------
   Outputs
   -------
   t         (n,:)   Torque

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Children:

Common: Graphics/Plot2D
Math: Linear/DupVect

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