Model Mathematics

Component: environment

Component: M

ddtimeM= vs ⁢ KI n KI n + FN n - vm ⁢ M Km + M

Component: FC

ddtimeFC= ks ⁢ M + k2 ⁢ FN - vd ⁢ FC Kd + FC + k1 ⁢ FC Ft=FC+FN

Component: FN

ddtimeFN= k1 ⁢ FC - k2 ⁢ FN

Component: parameters