Question: The angle is read directly from an inertial motion unit (IMU) and can be used with an inverted sign as the input to a controller.

The angle is read directly from an inertial motion unit (IMU) and can be used with an inverted sign as the input to a controller. The inverted sign implies that the feedback loop is negative overall. Please note that the process in Equation 2 has a double pole in the origin and is therefore unstable under any definition

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