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. 2024 Sep 16;15(9):1159. doi: 10.3390/mi15091159

Figure 5.

Figure 5

The subsystems of the j-th DGMSCMG (a) coordinates’ control subsystem; (b) gyroscopic rotors’ angular displacements control sub-system; (c) gyroscopic gimbals’ angular rates control servo-system and of the actuator with N = 2 DGMSCMGs in parallel configuration (d).