Model Mathematics

Component: environment

Component: M

ddtimeM= vs KI n KI n + FN n - vm M Km + M

Component: FC

ddtimeFC= ks M + k2 FN - vd FC Kd + FC + k1 FC Ft=FC+FN

Component: FN

ddtimeFN= k1 FC - k2 FN

Component: parameters