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τ 11

n control loops. τ 12. τ 12. τ 12. τ 12. τ 12. Actuate. Actuate. Actuate. Actuate. Actuate. Sense. Sense. Sense. Sense. Sense. P 1. P 1. P 1. P 1. P 1. (a). τ 11. τ 11. τ 11. τ 11. τ 11. τ 13. τ 13. τ 13. τ 13. τ 13. N D. N A. N C. N B. (b). Communication Bus.

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τ 11

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  1. ncontrol loops τ12 τ12 τ12 τ12 τ12 Actuate Actuate Actuate Actuate Actuate Sense Sense Sense Sense Sense P1 P1 P1 P1 P1 (a) τ11 τ11 τ11 τ11 τ11 τ13 τ13 τ13 τ13 τ13 ND NA NC NB (b) Communication Bus

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