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x(t)路=路x^{*}(t)路-路\sin路(路\intop\nolimits_{0}^{t}路\sqrt{路
[x^{*}(u)]^{2}路+路[y^{*}(u)]^{2}路}路du)露
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LaTeX
MathJax
x(t) = x^{*}(t) - \sin ( \intop\nolimits_{0}^{t} \sqrt{ [x^{*}(u)]^{2} + [y^{*}(u)]^{2} } du)