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x=-d^2x/dt^2-dx/dt+U
Q1=Kv w x sqrt(Ps/2+sgn( x) (Ps/2-P1)
Q2=-Kv w x sqrt(Ps/2+sgn (x) (P2-Ps/2)
ိdP1/dt=B/(A *xp+V) (Q1-A*Vp)
ိdP2/dt=B/(A(L -xp)+V) (Q1-A*Vp)
m dVp/dt =A(P1-P2)
xp=displacement of actuator
Vp=velocity of actuator
A=anulus area of piston
L=actuator stroke
U=current...
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