pirical function of {LI+MV+NA+Q(Sign V)}, F(P, T???) is an empirical linearization table function of P and T???, FK is a function which gives velocity as the function of change in position over time, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means, PL is the position of the load, TL is the torque of the load, and VL is the velocity of the lo