13 lines
218 B
TeX
13 lines
218 B
TeX
\documentclass[24pt]{article}
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\pagestyle{empty}
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\Huge
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\begin{document}
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\begin{eqnarray*}
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c_n &=&Ê c_{n-1} -\alpha (K_p \tau e_n + K_i \tau^2 \sum_{i=1}^n e_i + K_d (e_n - e_{n-1}) )
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\end{eqnarray*}
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\end{document}
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