Table 1:

Discrete . | . | Rhythmic . | . |
---|---|---|---|

Transformation system: | Transformation system: | ||

Equation 2.1 | Equation 2.1 | ||

Canonical system: | Canonical system: | ||

Equation 2.2 | Equation 2.5 | ||

Forcing term: | Forcing term: | ||

Equation 2.3 | Equation 2.6 | ||

Optional terms: | Optional terms: | ||

Equation 2.15 | Equation 2.15 | ||

Equation 2.20 | |||

h= equal spacing in _{i} | h= equal spacing in _{i} | ||

Discrete . | . | Rhythmic . | . |
---|---|---|---|

Transformation system: | Transformation system: | ||

Equation 2.1 | Equation 2.1 | ||

Canonical system: | Canonical system: | ||

Equation 2.2 | Equation 2.5 | ||

Forcing term: | Forcing term: | ||

Equation 2.3 | Equation 2.6 | ||

Optional terms: | Optional terms: | ||

Equation 2.15 | Equation 2.15 | ||

Equation 2.20 | |||

h= equal spacing in _{i} | h= equal spacing in _{i} | ||

Notes: The high-level design parameters of the discrete system are , the temporal scaling factor, and *g*, the goal position. The design parameters of the rhythmic system are *g*, the baseline of the oscillation; , the period divided by ; and *r*, the amplitude of oscillations. The terms *C _{t}* and

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