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State variables used by Multi-tube and Single-tube models.
| State variable | Boundary Coandition |
Multi-tube Model |
Single-tube Model |
|---|---|---|---|
| θi(s), i = 1, …, n | Base | n | - |
| θ̇j(s), j = 2, …, n | Tip | n−1 | - |
| m0 (s) ∈ ℝ3 | Tip | 3 | 3 |
| n0(s) ∈ ℝ3 | Tip | 3 | 3 |
|
| |||
| Total number | 2n+5 | 6 | |
