t<=T t'==1 acc_min<=aL<=acc_max e1'==v1 & v1'==-a1 + aL & a1' == 1.6050*e1+4.8680*v1-3.5754*a1 -0.8198*e2+ 0.4270*v2-0.0450*a2-0.1942*e3+0.3626*v3-0.0946*a3 & e2'==v2 & v2'==a1-a2 & a2'==0.8718*e1+3.8140*v1-0.0754*a1+ 1.1936*e2+3.6258*v2-3.2396*a2-0.5950*e3+0.1294*v3-0.0796*a3 & e3'==v3 & v3'==a2-a3 & a3'==0.7132*e1+3.5730*v1-0.0964*a1+0.8472*e2+3.2568*v2-0.0876*a2+1.2726*e3+3.0720*v3-3.1356*a3 acc_min<=aL<=acc_max e1'==v1 & v1'==-a1 + aL & a1' == 1.6050*e1+4.8680*v1-3.5754*a1 &e2'==v2 & v2'==a1-a2 & a2'==1.1936*e2+3.6258*v2-3.2396*a2 & e3'==v3 & v3'==a2-a3 & a3'==0.7132*e1+3.5730*v1-0.0964*a1+0.8472*e2+3.2568*v2-0.0876*a2+1.2726*e3+3.0720*v3-3.1356*a3 restoring breaking t<=tc t'==1 t<=tr t'==1 breaking t>=tb t=0 restoring t=0 acc_min<=aL<=acc_max e1'==v1 & v1'==-a1 + aL & a1' == 1.6050*e1+4.8680*v1-3.5754*a1 -0.8198*e2+ 0.4270*v2-0.0450*a2-0.1942*e3+0.3626*v3-0.0946*a3 & e2'==v2 & v2'==a1-a2 & a2'==0.8718*e1+3.8140*v1-0.0754*a1+ 1.1936*e2+3.6258*v2-3.2396*a2-0.5950*e3+0.1294*v3-0.0796*a3 & e3'==v3 & v3'==a2-a3 & a3'==0.7132*e1+3.5730*v1-0.0964*a1+0.8472*e2+3.2568*v2-0.0876*a2+1.2726*e3+3.0720*v3-3.1356*a3