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                    "true_type": "none",
                    "type": "float",
                    "description": "\u0422\u0435\u043a\u0443\u0449\u0438\u0439 \u0442\u043e\u043a \u0432 \u0441\u0442\u0430\u043d\u0446\u0438\u043e\u043d\u0430\u0440\u043d\u044b\u0445 \u043e\u0441\u044f\u0445, \u0431\u0435\u0442\u0430."
                },
                {
                    "id": 70006,
                    "index": 5,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 1,
                    "link_id": -1,
                    "text": "Current Alpha",
                    "mode": "output",
                    "object": "value",
                    "true_type": "none",
                    "type": "float",
                    "description": "\u0422\u0435\u043a\u0443\u0449\u0438\u0439 \u0442\u043e\u043a \u0432 \u0441\u0442\u0430\u043d\u0446\u0438\u043e\u043d\u0430\u0440\u043d\u044b\u0445 \u043e\u0441\u044f\u0445, \u0430\u043b\u044c\u0444\u0430."
                },
                {
                    "id": 70007,
                    "index": 6,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 1,
                    "link_id": -1,
                    "text": "Theta",
                    "mode": "output",
                    "object": "value",
                    "true_type": "none",
                    "type": "float",
                    "description": "\u0422\u0435\u043a\u0443\u0449\u0438\u0439 \u044d\u043b\u0435\u043a\u0442\u0440\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u0433\u043e\u043b."
                },
                {
                    "id": 70008,
                    "index": 7,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 1,
                    "link_id": -1,
                    "text": "Omega",
                    "mode": "output",
                    "object": "value",
                    "true_type": "none",
                    "type": "float",
                    "description": "\u0422\u0435\u043a\u0443\u0449\u0438\u0439 \u044d\u043b\u0435\u043a\u0442\u0440\u0438\u0447\u0435\u0441\u043a\u0430\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c."
                },
                {
                    "id": 70009,
                    "index": 8,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 1,
                    "link_id": -1,
                    "text": "Rotor Speed",
                    "mode": "output",
                    "object": "value",
                    "true_type": "none",
                    "type": "float",
                    "description": "\u0422\u0435\u043a\u0443\u0449\u0430\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
                },
                {
                    "id": 70010,
                    "index": 9,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 1,
                    "link_id": -1,
                    "text": "Rotor Position",
                    "mode": "output",
                    "object": "value",
                    "true_type": "none",
                    "type": "float",
                    "description": "\u0422\u0435\u043a\u0443\u0449\u0430\u044f \u043f\u043e\u0437\u0438\u0446\u0438\u044f \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
                }
            ],
            "outputs": [
                {
                    "id": 70101,
                    "index": 0,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 41,
                    "text": "Torque control process",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "processing::acs::TorqueControlProcess",
                    "type": "processing::acs::PhaseSpaceToStandingVectorUnitInterface",
                    "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043c\u043e\u043c\u0435\u043d\u0442\u043e\u043c \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
                },
                {
                    "id": 70102,
                    "index": 1,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 42,
                    "text": "Torque limit",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "systemic::IValueType<float>",
                    "type": "systemic::IValueType<float>",
                    "description": "\u041e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u043f\u043e\u043b\u043d\u043e\u0433\u043e \u0442\u043e\u043a\u0430."
                },
                {
                    "id": 70103,
                    "index": 2,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 36,
                    "text": "Speed Control Process",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "processing::acs::SpeedControlProcess",
                    "type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
                    "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c\u044e \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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                {
                    "id": 70104,
                    "index": 3,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 37,
                    "text": "Torque up Limit",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "systemic::IValueType<float>",
                    "type": "systemic::IValueType<float>",
                    "description": "\u0412\u0435\u0440\u0445\u043d\u0435\u0435 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0437\u0430\u0434\u0430\u043d\u043d\u043e\u0433\u043e \u043c\u043e\u043c\u0435\u043d\u0442\u0430 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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                {
                    "id": 70105,
                    "index": 4,
                    "multi_edges": true,
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                    "socket_type": 2,
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                    "text": "Torque down Limit",
                    "mode": "input",
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                    "true_type": "systemic::IValueType<float>",
                    "type": "systemic::IValueType<float>",
                    "description": "\u041d\u0438\u0436\u043d\u0435\u0435 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0437\u0430\u0434\u0430\u043d\u043d\u043e\u0433\u043e \u043c\u043e\u043c\u0435\u043d\u0442\u0430 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
                },
                {
                    "id": 70106,
                    "index": 5,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 43,
                    "text": "Position Control Process",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "processing::acs::PositionControlProcess",
                    "type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
                    "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043f\u043e\u0437\u0438\u0446\u0438\u0435\u0439 \u043d\u0430 \u043e\u0441\u043d\u043e\u0432\u0435 \u043f\u0430\u0440\u0430\u0431\u043e\u043b\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043f\u043e\u0437\u0438\u0446\u0438\u0438."
                },
                {
                    "id": 70107,
                    "index": 6,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 44,
                    "text": "Acceleration Limit",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "systemic::IValueType<float>",
                    "type": "systemic::IValueType<float>",
                    "description": ""
                },
                {
                    "id": 70108,
                    "index": 7,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 45,
                    "text": "Speed Limit",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "systemic::IValueType<float>",
                    "type": "systemic::IValueType<float>",
                    "description": ""
                },
                {
                    "id": 70109,
                    "index": 8,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 40,
                    "text": "Feedforward",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "systemic::IValueType<control::PhaseSpacePoint<float>>",
                    "type": "systemic::IValueType<control::PhaseSpacePoint<float>>",
                    "description": "\u0422\u0440\u0430\u043a\u0442 \u043f\u0440\u044f\u043c\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043c\u043e\u043c\u0435\u043d\u0442\u043e\u043c."
                },
                {
                    "id": 70110,
                    "index": 9,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 39,
                    "text": "Inertia",
                    "mode": "input",
                    "object": "resource",
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                    "type": "systemic::IValueType<float>",
                    "description": "\u041f\u0440\u0438\u0432\u0435\u0434\u0435\u043d\u043d\u044b\u0439 \u043c\u043e\u043c\u0435\u043d\u0442 \u0438\u043d\u0435\u0440\u0446\u0438\u0438 \u0441\u0438\u0441\u0442\u0435\u043c\u044b."
                }
            ],
            "content": {
                "id": 139948589834320
            },
            "alias": "",
            "comment": "",
            "params": {},
            "cpu_id": 0,
            "graph": "PositionControlProcess.json",
            "offset": 35
        },
        {
            "id": 16,
            "enable": true,
            "is_invalid": true,
            "title": "ForceUnitTie",
            "pos_x": -171.50878906250023,
            "pos_y": -643.1689453124997,
            "inputs": [
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                    "id": 160001,
                    "index": 0,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 2,
                    "link_id": 71,
                    "text": "Force Feedforward",
                    "mode": "output",
                    "object": "dynamic",
                    "true_type": "none",
                    "type": "systemic::IValueType<control::PhaseSpacePoint<float>>",
                    "description": "\u041a\u043e\u043d\u0435\u0447\u043d\u044b\u0439 \u0438\u043d\u0442\u0435\u0440\u0444\u0435\u0439\u0441 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f."
                },
                {
                    "id": 160002,
                    "index": 1,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 2,
                    "link_id": 61,
                    "text": "Effort Compensation",
                    "mode": "output",
                    "object": "dynamic",
                    "true_type": "none",
                    "type": "processing::acs::ValueToPhaseSpaceUnitInterface",
                    "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
                },
                {
                    "id": 160003,
                    "index": 2,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 2,
                    "link_id": 72,
                    "text": "Ramp Speed",
                    "mode": "output",
                    "object": "dynamic",
                    "true_type": "none",
                    "type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
                    "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
                },
                {
                    "id": 160004,
                    "index": 3,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 2,
                    "link_id": 67,
                    "text": "Speed Control",
                    "mode": "output",
                    "object": "dynamic",
                    "true_type": "none",
                    "type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
                    "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
                },
                {
                    "id": 160005,
                    "index": 4,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 2,
                    "link_id": 41,
                    "text": "Torque Control",
                    "mode": "output",
                    "object": "dynamic",
                    "true_type": "none",
                    "type": "processing::acs::PhaseSpaceToStandingVectorUnitInterface",
                    "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
                },
                {
                    "id": 160006,
                    "index": 5,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 2,
                    "link_id": -1,
                    "text": "Voltage Control",
                    "mode": "output",
                    "object": "dynamic",
                    "true_type": "none",
                    "type": "technological::adapter::PwmGenAdapter",
                    "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
                },
                {
                    "id": 160007,
                    "index": 6,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 2,
                    "link_id": -1,
                    "text": "Inverter Control",
                    "mode": "output",
                    "object": "dynamic",
                    "true_type": "none",
                    "type": "driver::IInverter",
                    "description": "\u041a\u043e\u043d\u0435\u0447\u043d\u044b\u0439 \u0438\u043d\u0442\u0435\u0440\u0444\u0435\u0439\u0441 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f."
                },
                {
                    "id": 160008,
                    "index": 7,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 2,
                    "link_id": 63,
                    "text": "Force Control",
                    "mode": "output",
                    "object": "dynamic",
                    "true_type": "none",
                    "type": "processing::acs::ValueToPhaseSpaceUnitInterface",
                    "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
                }
            ],
            "outputs": [
                {
                    "id": 160101,
                    "index": 0,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 53,
                    "text": "Force Control State",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "technological::drivecontrol::state::ControlStateValueControl",
                    "type": "technological::IExecutorState",
                    "description": "\u0421\u043e\u0441\u0442\u043e\u044f\u043d\u0438\u0435 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0447\u0435\u0441\u043a\u0438\u043c \u0437\u043d\u0430\u0447\u0435\u043d\u0438\u0435\u043c."
                }
            ],
            "content": {
                "id": 139948586735872
            },
            "alias": "",
            "comment": "",
            "params": {},
            "cpu_id": 0,
            "graph": "ForceUnitTie.json",
            "offset": 45
        },
        {
            "id": 17,
            "enable": true,
            "is_invalid": true,
            "title": "ForceEstimator",
            "pos_x": -1247.583007812499,
            "pos_y": -657.9814453124997,
            "inputs": [
                {
                    "id": 170001,
                    "index": 0,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 1,
                    "link_id": -1,
                    "text": "Raw Force",
                    "mode": "output",
                    "object": "value",
                    "true_type": "none",
                    "type": "float",
                    "description": "\u0423\u0441\u0438\u043b\u0438\u0435 \u043d\u0430 \u0448\u0442\u043e\u043a\u0435 \u043e\u0442 \u0434\u0430\u0447\u0442\u0438\u043a\u0430 \u0443\u0441\u0438\u043b\u0438\u044f."
                },
                {
                    "id": 170002,
                    "index": 1,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 1,
                    "link_id": -1,
                    "text": "Rotor Position",
                    "mode": "output",
                    "object": "value",
                    "true_type": "none",
                    "type": "float",
                    "description": "\u041f\u043e\u0437\u0438\u0446\u0438\u044f \u0440\u043e\u0442\u043e\u0440\u0430."
                },
                {
                    "id": 170003,
                    "index": 2,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 1,
                    "link_id": -1,
                    "text": "Rotor Speed",
                    "mode": "output",
                    "object": "value",
                    "true_type": "none",
                    "type": "float",
                    "description": "\u0421\u043a\u043e\u0440\u043e\u0441\u0442\u044c \u0440\u043e\u0442\u043e\u0440\u0430."
                }
            ],
            "outputs": [
                {
                    "id": 170101,
                    "index": 0,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 1,
                    "link_id": 60,
                    "text": "Force Derivative",
                    "mode": "input",
                    "object": "value",
                    "true_type": "const float &",
                    "type": "float",
                    "description": "\u041f\u0440\u043e\u0438\u0437\u0432\u043e\u0434\u043d\u0430\u044f \u0432\u0445\u043e\u0434\u043d\u043e\u0433\u043e \u0441\u0438\u0433\u043d\u0430\u043b\u0430."
                },
                {
                    "id": 170102,
                    "index": 1,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 1,
                    "link_id": 59,
                    "text": "Force Predicted",
                    "mode": "input",
                    "object": "value",
                    "true_type": "const float &",
                    "type": "float",
                    "description": "\u0424\u0438\u043b\u044c\u0442\u0440\u043e\u0432\u0430\u043d\u043d\u043e\u0435 \u0437\u043d\u0430\u0447\u0435\u043d\u0438\u0435."
                },
                {
                    "id": 170103,
                    "index": 2,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 56,
                    "text": "Khardness",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "systemic::IValueType<float>",
                    "type": "systemic::IValueType<float>",
                    "description": "\u0416\u0435\u0441\u0442\u043a\u043e\u0441\u0442\u044c (\u041d*\u043c)."
                },
                {
                    "id": 170104,
                    "index": 3,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 1,
                    "link_id": 58,
                    "text": "Khardness Estimated",
                    "mode": "input",
                    "object": "value",
                    "true_type": "const float &",
                    "type": "float",
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            "title": "ForceController",
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                    "text": "Diagnostic",
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                    "text": "Force Feedforward",
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                    "description": "\u0422\u0440\u0430\u043a\u0442 \u043f\u0440\u044f\u043c\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043c\u043e\u043c\u0435\u043d\u0442\u043e\u043c."
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                    "text": "Force Torque up Limit",
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                    "description": "\u0412\u0435\u0440\u0445\u043d\u0435\u0435 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0437\u0430\u0434\u0430\u043d\u043d\u043e\u0433\u043e \u043c\u043e\u043c\u0435\u043d\u0442\u0430 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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                    "position": 2,
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                    "link_id": 70,
                    "text": "Force Inertia",
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            "content": {
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            "graph": "ForceController.json",
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                    "link_id": 72,
                    "text": "Ramp Speed",
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            "alias": "",
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            "params": {},
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            "graph": "ForceControllerDiagnostic.json",
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                    "text": "Speed Regulator",
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