Theexpressionofoutput-torqueerroris givenat the point of singularity, provingtheincompatible relationship between the gimbal rate and the output-torque error.
All of this will be thrust on us by something that Kurzweil calls the Singularity, a theorized point in time in the not-so-distant future when machines become vastly superior to humans in every way, aka the emergence of true artificial intelligence.