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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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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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