Table 2.

Duty cycle mapping.

if ((ɛ > L) || (ɛ < − L))

{

DutyRate_Left = 0.01×ɛ

DutyRate_Right = −0.01×ɛ

}

if (ɛ ≥ 0)

{

DutyRate_Left = (0.01 −1) / L × ɛ + 1

DutyRate_Right = −(0.01 +1/ L) × ɛ + 1

}

else

{

DutyRate_Left = (0.01 + 1) / L × ɛ + 1

DutyRate_Right = (−0.01 + 1/ L) × ɛ + 1

}