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- Newton's
can be written
- The backward-difference substitution gives
- Solving for
yields a difference equation
(finite difference scheme):
with
, or, in a lighter notation:
with
- Note that a delay-free loop appears if
depends on
(e.g., due to friction)
- In such a case, the difference equation is not computable
in this form
- We can address this by using a forward-difference in
place of a backward difference
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Download ReviewPM.pdf
Download ReviewPM_2up.pdf
Download ReviewPM_4up.pdf