Qle Control Function
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![An illustration of different control modes, where q = [q1, q2] T is the ...](https://www.researchgate.net/publication/313862709/figure/fig1/AS:614272312827924@1523465340347/An-illustration-of-different-control-modes-where-q-q1-q2-T-is-the-vector-of-joint.png "Qle Control Function")
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