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{\hat u}_{t|k}
{\hat y}_{t|k}
M=(k-1)^2y^{*2} ( 1+\frac{\beta^2}{\omega} )
F=\int_{r_1}^{r_2}(\frac{G M}{r^2}-r\omega^2)(\frac{m}{l})dr
J_m \frac{d^2 \theta}{dt^2}=T_m -D_m \frac{d{\theta}}{dt} -T_{dis}