(1) | p_{wf}(t) = p_r(t) - \frac{q(t)}{J} |
(2) | p_r(t) = p_i + \frac{1}{c_t \, V_{\phi}} \, \Bigg[ \int_0^t q_i(\tau) d\tau - \int_0^t q(\tau) d\tau \Bigg] |
(1) | p_{wf}(t) = p_r(t) - \frac{q(t)}{J} |
(2) | p_r(t) = p_i + \frac{1}{c_t \, V_{\phi}} \, \Bigg[ \int_0^t q_i(\tau) d\tau - \int_0^t q(\tau) d\tau \Bigg] |