fix_controller2.tex
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	\documentclass[24pt]{article}

	\pagestyle{empty}
	\Huge

	\begin{document}

	\begin{eqnarray*}
	c_n &=&ﾊ c_{n-1} -\alpha (K_p \tau e_n + K_i \tau^2 \sum_{i=1}^n e_i + K_d (e_n - e_{n-1}) )
	\end{eqnarray*}

	\end{document}