(2*0.051*(0.163/0.0825)^2 +2*1.5*(0.163)^2 + 2*0.02 + 0.154 + 5.67*(0.035)^2) *u(2) –5.67*0.035*0.0825*u(1)*u(3) = (M1- 31.25*0.01* sgn(u(3)) – u(4) + 31.25*0.01* sgn(u(3)))* (0.163/0.0825) /(0.163/0.0825)
((2*0.051*(0.163/0.0825)^2 + +2*1.5*(0.163)^2 + 2*0.02 + 0.154 + 5.67*(0.035)^2) *u(2) –5.67*0.035*0.0825*u(1)*u(3)) / (0.163/0.0825) = (M1- 31.25*0.01* sgn(u(3)) – u(4) + 31.25*0.01* sgn(u(3)))
(((2*0.051*(0.163/0.0825)^2 + 2*1.5*(0.163)^2 + 2*0.02 + 0.154 + 5.67*(0.035)^2) *u(2) –5.67*0.035*0.0825*u(1)*u(3)) / (0.163/0.0825) ) + 31.25*0.01* sgn(u(3)) + u(4) - 31.25*0.01* sgn(u(3)) = M1
(((2*0.051*(0.163/0.0825)^2 + 2*1.5*(0.163)^2 + 2*0.02 + 0.154 + 5.67*(0.035)^2) *u(2) –5.67*0.035*0.0825*u(1)*u(3)) / (0.163/0.0825) ) + 31.25*0.01* sgn(u(3)) + u(4) - 31.25*0.01* sgn(u(3)) = M1
(((2*0.051*(0.163/0.0825)^2 +2*1.5*(0.163)^2+2*0.02 + 0.154 + 5.67*(0.035)^2)*u(2) –5.67*0.035*0.0825*u(1)*u(3))/(0.163/0.0825) ) +31.25*0.01*sgn(u(3))+u(4)-31.25*0.01*sgn(u(3))
((2*0.051*0.163^2/0.0825^2+2*1.5*0.163^2+2*0.02+0.154+5.67*0.035^2)*u(2)-5.67*0.035*0.0825*u(1)*u(3))/(0.163/0.0825)+31.25*0.01*sgn(u(3))+u(4)+31.25*0.01*sgn(u(3))
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