So, is it fair to say that both the tabular data (including the polynomial 
approximations to that tabular data) *and* those state variables partitioned 
out into "those that varied in a predictable, stereo-typed manner" are a kind 
of "shared assumption" (coherence), whereas the state variables that varied 
freely reflect the coupling of the system with the environment?

On 03/30/2018 12:29 PM, Frank Wimberly wrote:
> Raibert, Marc H. and Francis C. Wimberly.
>       Tabular Control of Balance in a Dynamic Legged System.
>       IEEE Transactions on Systems, Man and Cybernetics 14, 1984.

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