T <= T_sample + j_upper
I' == 1/L * K_P * x_e + 1/L * K_I * x_c - 1/L * R * I - 1/L * K * K / d_rot * I &
x' == K / i / d_rot * I &
T' == 1 &
x_e' == 0 &
x_c' == 0
T >= T_sample - j_lower
T' == 0 &
x_e' == x_0 - x &
x_c' == x_c + T_sample * (x_0 - x)
true
t' == 1