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. Author manuscript; available in PMC: 2019 May 15.
Published in final edited form as: IEEE Trans Robot. 2016 Jan 19;32(1):138–149. doi: 10.1109/TRO.2015.2504981

TABLE V.

Linear FFA Sub-Step Control Law Parameters

PARAMETER Value Parameter Value
Gas constant, air, R 288.3 J/kg/K Temperature, T 294 K
Robustness constant, η 200 mm/s3 Closed-loop poles location, — λ −120 Hz
Hysteretic damping, ξ 12.5 kPa/(mm/s) Proportional gain, kp 0.3
Critical pressure ratio, air, Cr 0.5286 Valve discharge coefficient, Cf 0.2939
Effective area, Ae 1419 mm2 Moving mass, M 82 g
C1 for air 0.04031 s.K0.5/m C2 for air 0.1560 s.K0.5/m
Boundary layer, φ 1 mm/s2 Stiffness, kb 143 kPa/mm