43
(
(
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+
|
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+
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+
|
\
|
+
+
(
(
(
(
(
(
(
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(
(
(
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(
(
(
(
(
(
(
+
+
+
+
+
(
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(
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=
(
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r
dr
qr
s
ds
qs
m r m m
m
m r m m
m
m m s
m m s
r
dr
qr
s
ds
qs
r
m r m
m r m
s
m m s
m m s
r
dr
qr
s
ds
qs
r
r
r
s
s
s
r
dr
qr
s
ds
qs
i
i
i
i
i
i
L L L
L L L
L L L
L L L
i
i
i
i
i
i
L
L L L
L L L
L
L L L
L L L
i
i
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r
r
r
r
r
r
v
v
v
v
v
v
0
0
0
0
0
0
0
0
0 0 0 0 0 0
0 0
2
3
) ( 0 0
2
) ( 3
0
2
3
) ( 0 0
2
) ( 3
0
0 0 0 0 0 0
0 0
2
3
0 0
2
3
0
2
3
0 0
2
3
0
0 0 0 0 0
0
2
3
0 0
2
3
0
0 0
2
3
0 0
2
3
0 0 0 0 0
0
2
3
0 0
2
3
0
0 0
2
3
0 0
2
3
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
&
&
&
&
&
&
Notice that the resistance matrix and the last matrix multiply the same vector,
therefore, we can combine these two matrices. For example, element (1,2) in the
last matrix will go into element (1,2) of the resistance matrix, as shown. This results in
the expression on the next slide.
Final Model
44
(
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=
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r
dr
qr
s
ds
qs
r
m r m
m r m
s
m m s
m m s
r
dr
qr
s
ds
qs
r
r m r m m
m
m r m r m
m
s
m s m s
m m s s
r
dr
qr
s
ds
qs
i
i
i
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L
L L L
L L L
L
L L L
L L L
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r
r L L L
L L r L
r
L r L L
L L L r
v
v
v
v
v
v
0
0
0
0
0
0
0 0 0 0 0
0
2
3
0 0
2
3
0
0 0
2
3
0 0
2
3
0 0 0 0 0
0
2
3
0 0
2
3
0
0 0
2
3
0 0
2
3
0 0 0 0 0
0
2
3
) ( 0 0
2
) ( 3
0
2
3
) ( 0
2
) ( 3
0
0 0 0 0 0
0 0
2
3
0
2
3
0
2
3
0 0
2
3
&
&
&
&
&
&