Â(t+1)
f(e(t))
Â(t)
â(t)
+
ŝ(t)
cos
1
(t)
+
s(t)
d (t) = s(t) + v(t)
v (t)
f(∙)
e(t)
bˆ(t)
sin
1
(t)
Z
-1
Â(t+1) = Â(t) + X(t) f(e(t))
Â(t+1)
f(e(t))
Â(t)
â(t)
+
ŝ(t)
cos
1
(t)
+
s(t)
d (t) = s(t) + v(t)
v (t)
f(∙)
e(t)
bˆ(t)
sin
1
(t)
Z
-1
Â(t+1) = Â(t) + X(t) f(e(t))
sign[e(t)]
-
+
i
(t)
F(t)
Â
p
(t)
e(t)
ŝ
p
(t)
ŝ
1
(t)
-
+
b
p
(t)
â
1
(t)
b
1
(t)
â
p
(t)
Â
p
(t+1) = Â
p
(t) + F(t)(Â
p
(t) - Â
p
(t-1)) + UX(t) sign[e(t)]
Z
-1
Â
p
(t+1)
d(t) = s(t) + v(t)
sin
1
(t)
sin
p
(t)
cos
1
(t)
cos
p
(t)
sign[e(t)]
-
+
-
+
i
(t)
F(t)
Â
p
(t)
e(t)
ŝ
p
(t)
ŝ
1
(t)
-
+
-
+
b
p
(t)
â
1
(t)
b
1
(t)
â
p
(t)
Â
p
(t+1) = Â
p
(t) + F(t)(Â
p
(t) - Â
p
(t-1)) + UX(t) sign[e(t)]
Z
-1
Â
p
(t+1)
d(t) = s(t) + v(t)
sin
1
(t)
sin
p
(t)
cos
1
(t)
cos
p
(t)