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Motor Control Kit TMDS2MTRPFCKIT SMO equation

     Here the SMO equation of TMDS2MTRPFCKIT, "i(n+1) = Fi(n) + G(v(n) - e(n) + z(n))", where F=e^(-RT/L), G=(1-e^(-RT/L))/R . However other semiconductors, like Microchip,  their application notes said, F=1-RT/L, G=T/L.


    "F=1-RT/L, G=T/L" are easy and nature to figure out, accroding to the equation above. How to get "F=e^(-RT/L), G=(1-e^(-RT/L))/R " accroding to TI's theory? I've no idea how to get F and G with exponent.