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Average gain vector Lt = [L1,t, L2,t, L3,t, L4,t, L5,t] computed by the iterative method described in Mathematical model of the hybrid control architecture in methods. The 5 panels refer to the gains multiplying the 5 state variables x. At the beginning of the cycle, the controller acts like a spring (high position gain). It then switches to a mode where it minimizes the difference between the actual and the desired racket states 1st and 2nd columns.
