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Fig. B.1


Oscilloscope window: open-loop step response of a single tensioned Kevlar cable. The blue curve shows the speed of the motorized winch, actuated for 50 ms (horizontal scale is 50 ms/square). The red curve shows the observed position of the weight versus time. The rise time of this experimental setup is  ≈  50 ms, followed by three dumped oscillations. Settling time is 300 ms.

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