Control System — ARC explanation of two control signals

Answer
Send both actuator commands now.
Actuator 1 command: 39.27346198678276
Actuator 2 command: 26.08

Reason Why
The first sensor pair is 6 and 11, so the reading is rising and the controller normalizes the gap 5 into 2.23606797749979. That normalized value creates a feedforward term of 43.82693235899588, while the known disturbance 35766 contributes a compensation term of 4.553470372213121. Subtracting that compensation gives actuator 1 the command 39.27346198678276. For actuator 2, the target is 5 units above the measured output, so the tracking error is positive. The observed state is -2 relative units below the measured output, so the differential correction is negative. That yields a proportional feedback part of 29, a nonlinear factor of 1.46, and a differential contribution of -2.92. Together they produce actuator 2 command 26.08.

Check
C1 OK - the first sensor pair is rising, so the normalization uses the rising-branch rule.
C2 OK - the normalized measurement is positive and smaller than the raw gap, which is consistent with a square-root normalization.
C3 OK - actuator 1 is lower than its proportional feedforward term because disturbance compensation is subtracted.
C4 OK - the target is above the measured output, so the tracking error is positive.
C5 OK - the observed state is below the measured output, so the differential error is negative.
C6 OK - actuator 2 is lower than its pure proportional term because the differential part reduces it.
C7 OK - actuator 1 matches an independently reconstructed feedforward calculation.
C8 OK - actuator 2 matches an independently reconstructed feedback calculation.
C9 OK - both actuator commands stay positive.