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i
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roorntnoq

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;.,.,,*.functfono{one(or)-|'.,"lfnd,ptn.
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{r rt(t) su.l,yyr I
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toe ort not bothurd
aboul

t"'-'r
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(' ' H(chani,or cgurra-re41r
' I t t*gt1;=xltl
ruz-S-H(rtn(reevr.
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: UtU

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fttnctfon
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= xt+.) lrtg
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Conyokrlr"orr
L.I
YIsl-.Xcs).'H(s)
a.Y(ssr ,^
I :1

kt : li(s) =7
@Crmrr on\ fo-r Lrrsy-,t.D

@ .ir 4 en LTD sgckm -ax ckifntu e fh. .

Tro,,if*r
r-olfo 4 Loptcrce trorvfer.n 4 4p +o fh. Loplcrrr fronrfo.,-m ef ,.

=+ TCI ono[ust *h, efioro,{en'cffcc 4 a sgettm rnathrrnthrcetrg,

=fht sg,f ,* fi y(p,.rtn teo{ 8n oirlr., -1 th, k*ro s{a^d.orc( ,

:":,red& ; n cr: tl1

@ Ti6rf,, f". rlode(

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' '

j6 itrar con djtrons - l

,(tjl g tt) - )yD< Ct) t C

,T rtlt) =o rtf r t g(tl =cr tnitfat conctiffont,

'": lot LTf rgsttrn +o A"n.t Trorufi., fn. & rTttmn 6
tfl
o. o 0
t fl'Cr,t

co4o1n' fl.o-u, ,lo be fqrro r<cl .

"f .

'."o

& rt)
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t:o
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ru
T
:rq = L' lrp
(ar)
:

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:

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l
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t
+ t' ---* {fr'^'e
Itr
uJ *
Jr(gt(,r,H.
s J-t _+ f-" - Conrtxqtl,r Janto, (ot) Ocrmptnq jo,to,
tr1; rO
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+ .g = s-t jt1r =) I"m, ch crraEltnirtr.s . C nrfr ir *trnt cLor, roco< s r^.l [tl
S= ju =+ lrequ,ntX tkoro,tenitftg. tht r0t .t-t t., )
d.orng
C.*ttt kfrt *ht u)
o
60

tSgslem
-+,ip ?oto ,b.
But
f-cntro I sgs{trn *-i ilf ieaio dtsirtd .,/f .
(ont"ol Sqs11, -
uq ,uhr,h *r',{ tl,ttont'|x
4 co,ltro I sttrr{ena & fhc,t rnt ons
or flnJer,r{ & rn o-r"ntcr-t'ncel (0, s-[{rrro[ ettcorCdrtq to or ol.u irco(
fi Qnn tv.
-Itr', eltmtnlc/c,t j
P ';"' d'".,1' "* t" -.''- h: bt
r-*,.,,1r1) rhyn,n!.q ccsrbcLtttl crt0/-rJ Itort .

1i ccd-La d. eon bq Uu,'

D r'fur b onttr

&ntro Utr
&mmond ;.t-l--c,rt,.i-
i 4e{tbn controUict outpu{
Grl J- -Y
Btfrrtnrr [nput
' sfqn cL8 r
+TR b i.cfr'e th cd thr ro4froLlnd
{t -fCtmp .0r

-Ie4aUorf
ttr rnt nt

{ ,iobg -t ['xror ctuiec.ttbn + Gnbol egrbn

{reda ctr ( i* lvtsrnt *h,n onlq E.D ,ri clort(*rontool A,t,on.
q fiedharf n not f rtitn t *I,n ont4 control atFron ;-, donr.
 Contt'ol Sgst<r'r

Non-freclboek I sgsltrn
(on'fro frpd botk (otttol sgsttrn
(oprn loop cont"no I sgrttrn) C (tortct [oo p Contto I etor.rttrn)

*vt Jrcdbo(k cs - r, Ji.d uotk Cs

i"ton- ma,hrn,
4rrtorna-ttt
c.s c.s
+ Norr-,{erdb616 conttol tgstrrn -..7 it -rvL rnron
vlvLr not
b not
ctoer "i-"'r ['rvtho$ Jrtc{batls
. Ft,c{to,[s do e>efsf ia ].fon- ftedbotk coltvol syJkm
tso frtst4t
Q, 0Lcs buj &dualk e-Lornrnf not connrrt,d +o confuoUer.
+ Fedboth cs -+ *ectbqtk ettm'nt c{-fttelta cortnttt(t{ fu &ntttrtltr'
"1 c$
rncttfifnt --v Loop 6loseol by {i*rnon btinq5.
I..i ,1o'- .
Ar,tomo*ft €! arr *.or * us,ur c.,h.rt
:n{ h,.*or'"brina connof (.
tnvolu<d ,
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,

";;

i:

.0lcs I cLCs .

t/

Q r+ *ht controtreel rcryr'crb1, ,.n:rf@

rf +h, ;rd yanhblt varru
'ft-om 'lhe rtl pofnt d-uc tu anxl:rr;
,

'l *|r, ,.i' prat d.{!( +o an,J : .

dittu'banttr thrn the controu., a"turbancu th,n th(, coq&ouer i,,:-'

't' nof o.oo,r ,i +h* eu,turbon.uf *o,. ,4 +h;, ;i;,i.t;,;,;,n,. I

*ltncr 0LCJ Grr not acc,r oJc. aaa, crre o-ercrrair.

I
u r ^. batk siqnct( -i,
crlcs {ecd I

not (mp!.g(c{.
'
fo rn c Lcs {trctbark sfgnct{ ri
J cu0r,u,p tmploH(c{. .

@ -Th, *tm, ooqstant *, ftm, m*t. "{

:

"{ the l@*'t (rcs t:ith :

0LeS i, lAvgtr , ctur *o ..lh tcA

| ,h,tnfttdbock fr srncul.w, c{&t}u
*h* {lansitnls *qku Lqrph"uf,g,tl *ht 'lronnlnf .4qp,r ,(u-t h'rn<,
S.:lrr.-l'i' -.: -',: '''': ,":rri:.-:.-,.r'.-r--.-.. ,.-.,.,.
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9iU' I
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t
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LL r
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9

@ o Lts ove g tntrcrt-[q sloble hut O crct con becorn( unrtobl, (.u, {,
!(
t Connot br stah"tige tr b.romu +lfqh rooy gain &'1 hrqh propc.tot,"^
ttnsto blt . c{tht-g) Aut Con bt s}obiGgrd.
C Th, off..t "{ e>t{rr46s &fttrrr- @ lF, cfftrt "{ tr.tcrncrl corsttyloon{,.;
cd pctrorn c{t r
boncts 4 fntern 4 inttrna0 forornetrr ycirfcrlforu
-i
t'ovfolforu n rno?? fn LCS O . & [tsr in ( LCS .
-- f:: -1

)' @ 0tcs ere sfmplt 4 tcononr,,nr0,

.-(,

--\I n
tI(SS Lrrr
Httm iar t..J Procrs i
T[r4pera{ctt, control tht or11

LtgrLrd [trdr

Unif,td corrt"ol *h,org

tJtogoninX sgct rn 3(ryo Contr-ol *h,orX
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.(pe,re yr h {(lu I
-)
t Nqtu"e , L, eyu ,
L-,
Qnimol,r , Cqb,rrrtf fts
socr'o econornfrs
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etptern:
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fue[ [tms _ Pniforu d'l gx "f CqrE f aptvs.
f.-t 6i4re : lo .lo ts morl< (avq tl n)
2o.'9r5 q{ rrs foftrs'
t; PIUI i 6 {o-1o mcyks
i Re{a-cnru -
o ol.c, Kro
: o ogoro
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t,
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tll0cK
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iry_l$qrom o{ ston d aret
rePrts(rtTCLr(on , o C
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lorcct loo p rgsftrn .->
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C fe"cllratk'*oPotoqq-
cV- * Re ftrtntc th

!9_l_ * (onttcltrd
"fp
BCs) -> ,tted bAtk sfgnal
-r--

.ECs) + frrrot sfXnAI

.$]19* qts) = l!, = torroa"c{poth

ECs)

ItLtl *r, HCs): B (c)

=. fcrdborh path T F
CCsl

cr(si" H{s,1 = gCs) R fs\

EG) becorntr R(s) bco< loop":brj Ptdbc.t[
E(e; (sl
R
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= Loop 1or1 ol,n too p T.ron, h, {rr.
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-\
17

= cr. [n +B)

f - cqB + cqH
t[,t&H]= c'rR )

It C'rcy Hfs.)
op(r)
loof gai, or o?m loop TF

*ve dor -Ye Jtect barh (, 't

-) lt(s) =l
A - rt ftrdbo.tlr A Constd tt-t ,J r'f
:'t.n{
tu. rtn.
abouF Htu/
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? Ih, Qbore B0 R .rAorrn f, 4.U b cttk trgotrgil ,1u sytem.
4

_wr j?rdbaek @ .F"t

fedboth
i' t-= ':.='' -
:-;':-:-::-ra*-::tiira:::a.lJ.:,.:-: t :a::::a:f,1:tl::J;l'::::: :_., ,. :

i.-
I
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tUSexfu /[arcactr !Pelesq-

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rf R>(s) = Cr ts) i Non - fntrrattioX
\
Cas cocting
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ti RrCs) t' crtc) ;_ rntuortfvt cascael.f1.y
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t
-+ Ccc) r p>ts) . Gi(s)
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{l
Cr(c) = R(s)' 61(e)
.j
lJ D- r^r
nzrsj - cr(e)
*ht4
C(e; -- R (s) . crrl(s) ez(r)
t.
\ ..'
= Grr(r). Gr(sJ
Yctid onq {0,
(,i hon- iqltrat\ Co-rtadfrro
T
(_, -+
R=E f- I C=C
i,

t".\
YLI-.H
*-=3-=QH
RF
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r -

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c-,1 i{ Br = Br = Q
:-
Ii (= C;.t C>
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(-.)
5 R ( art c'rz)
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\; hyt Cn.
(-.
D
l\
rarid on! q Vyr. gr( J&fit {or bo}h syterna
il
/ f:jt f, ar. or',q J sfcrnd.er.tel tololoq ftr hert A^!. [4U"f.t toyotogl ,
(,' ,

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I

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-
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I t Crrr trrrrl !

€r"

c J
] No stonc{ord $lotoq* r:r.1

)teSu-l-k Coq be u"td {.u,. ,-

Cft* ur( lrtr& 'to t(ct{ru r

+hr B_a1 \
Block drhqrorn rtec{tuflCon /ilgtbta - t:
*..-=--..-.-.(<(-lj:j.:_
@ Gr-Q, . r::
rr-

<
Elemenls - o{| BDq
- i-.L3ettmtnlsj
@ GrrGn (

Oq @ stoch --> iil

Itil € Aaa,c (04 ,,-l v t . i

@ fht+t on add.ex a{ttr *fi, blotk *';i3i;;hs'A

'^- t'.I
l'':-
-' " L- ' /<^ :z-'
g,in.hrng flJ /*{-
C\ C i (B+x) :
-/ G-l

= R&+x br

4.f t.,
rl ,

c 9 c= R&txcn

f':::

@ g$s$: GrJ Re alYen ft *tulb "addt rs

R**_)*A +2 2L;*"
l-i6;-+6pi
-I+
xy
=r T
\./ X
/
fia- x +)+R)
\ -- '' C= R+x +y C- RtX+V
'/
i-.'. .t '?r-r.- '-..'. t.-::--
i.:- .. .-- -. --,. -!-
li):bL*;):t;1:*;:?i'4---:L.ir -.--: -.- - .::. -. ,,:-- ,:.:j--:_:'..-.-..:-1..-,:;....: . :..:'- .. _
:.::.: r- :_::.jl,-: ..:1-, .: -
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e
I .-

q{- C=Rtx C= R+Y

=
Y= R+x

lo,o*
): R+x
l*,

r
@ sfrtft an add rz be fure * h, *q k, 4,f po fn ! t
R
----) &---'c=
R +x I
4 C =-R+ x\
lx =
Y=B
)
Y= R'f x-x

ftcdure 4frrnd xF

Is
t{' .

" a-,.,-,

bellr
Crf
-_l
\ f C11Grz \
l_-|*/ -r
hrl l- tt c,$/
I
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e \rr\ul
--
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Qt'lfnotiorlr+ siqno,l {to,.o gtoflfi .& a quophrcal {eohnfg,,re fhnt e(eo0r uf*h
*he re(atfon blo yarioblu c{qcriuec{ fn *ht {oorn
"4 o sgsttrn thal a*e

"{ o set .[ineor alqrbrir eguatfon.

"{
,E* -+ I =
l_1||

'n't@, th.i cennot bt hrprrst4t.d hqrt bco< ?!s not conf,ein any
xs^n9 vOriQ61, .

--:--l
+U
= )^nxtyla
.t.

n
H oro *o Con y( /t ete c [rfccra u/t^: fabd SFq -.
Br {rti)
^B'
t *.
Yl *o fl* Yg f,, -> Yo (5 ror:ob'. t
'sL Vo(s)
fr(r)
J'ar = I/s
d
*,_\) {ottalu f lool
cfr trrt-Na19
[, = yi- n.
Er ,dou Lue C9") cPr o.o fh u. gru ir fs-rrn "N siCr
Yc
,!(f,-i,) Tq k, noci., 4 sFQ 0r n o. o-{ vcr,neoblu
o
r, Vc L1
iL Vc -vo
Rr tlR,, i,
I
7sc Y
I tlr
Y; i st i,
* l/sc
-L -J_
Rr RL

2\L
Fo'ru:arcl fath -z st.Qfn.
Ferd bolh n _) Crl"av<.cL dnt
4 oxd. o-f variablu ean b e an gthing ,
ir it cen be f, *) Va -2 V; -2 (yn Yo

g*=i-: ':)-:':l::-:..:,i;?';ilj.:';i2i..;-:.;:--':
 4)
---'
fi convt'rt B Locp ctfoq,oorn fnio SFGri
\.-=-

Jakt hoctu onmr."{

otddtrs & tokr-$ Pof^+s
A pttru ,t nodu e,tto
u:ith uni\ ?€tth ol
tlfl ( of? nodel

To, tu con uurt eg5jlg_€lg

&s ro8 Ch -l cor,lyr -
ifnd " I Cg &o'ven X=')t1 +
.'

P3u I

UCs) o
l

Tr = -Qrxrtltlt pLLr
x>= -ezkl * piu
45 Btoa, L9)tt On-a- &lffe.entt"o,q Eru *h.ro (crnr({ {o otqobrFc e{n'
I
. *'n€ L'I.
a

Er - X[s) = Xr (s) I pj u(s)

4 Yarr"obtu X, xf ,X6u
s Xr(s) = -as Xr[e) + XrtsJ + Fxu(J)
'lake 4 noc{q
s XrtsJ :
-_az Xr(s) .Pr u[s) f {. olp ,c. x(s) x ilgdvut}ti
i,

xv tls \x, ,/ L

t
T
t- -1:!-::i::: ! --'*-.r.:-l:,-.::!:i.!?--!E
W.
I
L
.

';
i-:,1 ,-.-,u* ] tle ,con clf,ecttX g,t sFG bX gi'tn tXru'o-l-ro
!Ql<r 6 ranfobler noro , Xjxr:xr ; N, , xrru
bz

('ro9c blw x1&ri,

L xy & ir, te".
'lo br onh'tiTokd
bg trr & kqru
to be {ulgtrtec{
\
lrrf ?
t.

l'lf;t:r",t ., Crofq forrnula -

(

l:-

=i; F Pr.A*
.h,". k=lr2r3.--T)
A

n = No' "{ fort^ra"c{ poth, (.

Prr : & c,rn Kri jor ro c,,c( aLh

"J g

A : .OrtornfnunL 4 +h; grcrph i

:.1

e A = t- Surn rf oU fnc{-r"v,'drtq-[ "&g!" go,ins] I

L.r f
I
I

+
[borl "i z -p" - to..hf"Sjsqp'" go-ins-]
I

- [ lor' 4 3- 'lnon -tou,hfn.! ,(ool" Xotfnt]

I
.II

+ * _ *_.
I

r
t

4K= 4y fs- sarql ar A ficrl n e^qltrtc0,fn5 *hr

l

obtci-fne& \ :

loo? gctrru; *h,ctt a"e rrot futi,hfng t6 6th joruarcl flotl' i

ti

Ax =1- [.u* -i "Y tncttvfd.qr toof ga-tru +ho$ orq rof dor*l^ir.4
I
I
:

+o k+h Fp) l

+ I sor trofl gcun th"r G/u notrou,t-ry

I
:

i X*r.f;Ir*,*f
:

=J[irn
fno to

-r::r:l;.:.--:-:::::::-::i,:::.:i::a-;:.1a,:,:.t;*Zj$ja,,E.:a,li;.i;.>
t ,,..,' ',"''.,.-r=.-a::aa.r!a:::W-T}tgifr
'8- - :

rfr.i^r
/t, . o 'iri.ii( Jl' .i^.^- .,-.-il "-
,<-: rii.,il( ' Tr tr0tr tIr 5H.r rePr.r(lts & radobir o{ T7l( s'U\L(, Il .,xv.\,i
,rorfa b lu
nodu k cquol tCI Et o, a{ .

:
i
flocte -
@ J"r p..t Thr flodt th ot ot on q u\o
l', o fng bro'ithu.
@ Output hodt - Tht rrodr *hat has rnq fncotninq bto n,hu.

{.; IgjI- f'loron's'iorrnul,c, ir appArcoblt orlq bttutttn ilr , ,fr nod,r *{'Fn,
\ S tgrral Ftou graph.
@ - lath thot co'nnttts tht ilP noclo 'tutth th'
E.-i
$ortoarct foth Th, "#n'&i
{-:
t

L- .
sur[ liiet no noc{r JJ
e
; (
P rct(C{.

() @ ryj--ILoopiocloiec{ Poth thc.[ sto,ts' I tn& attht sQrnt noda

{..
sucli that no rotte ;1 rtPtottcl
-.

(jl .
,tr+

C
@ Non- touching Loops- T[uo (or] m6r( n0. -{ lorp. ar. sord to bt non-tlttt'
f,' Ain8 tT-ilfil t ha,,. an{ cornr,]on node
C
{) =) No* u:rit f f C 4 sfqnar {t..o lrop}u th.t .ue [s.', ctrot rn on
i-'
It

(:r
. ftryvfoto paq., urfno |1alon's gctin
- {otrrfu-Lc'
!' :
.o. Frorq StG, @
t'^t

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L lt -oJ
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l

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'-|.

tr= d.,t x I

d n(gw)
tr = o'35 *
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sfftd cf ftrrponr,cf
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oo I shoujd be ctecrtasee[,

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4. B'u) ol Nodsr .". r{ BuJ l=t Stl-trt

{ n,ofse o'n C0^0\l01 'l
s qcitm
*),lnel CS ts not ^a-e(ioble,
Htncr (ontrol stJrtr* ur ith [,uj, Bh? i, not prt{trtce{ in pror{frr,
@) q$Lun{ tr,-,;- Icmr tcttren bq *h. rtsponct {c rtisr tto* o qncl +o
stoX 'ufth loo% df ffn,.t r&trrr.
,.1+
LLL
t = + c(t) = too!, x, t
'i-s

1-p
-ts/r
- 4
J.

or CInq sustrm-,
OT * + o,/"
-tT '
r'
^
b3/j
nl

.-+ 06 "/.
Ll
'

3r frtoF^
a"/. l= b
+T -? 9g Y. .--: 2"/o L. rt a,p,rcL on \o\uonte\
I tt4 pratt&t) f
5I :+ 99'.: 'f -> x Lol. ,) l +t',ot r,-rhirh k hou, to t
., L u, to.ken J
:
coT -) loo"/. *> o "/"

-ts { ts atio te.hr lttatrvt stabtUt1

{ +h,
6tob t Gt
I gstlms
e-at u tt.) --+ f= Ia I
Polt

stobitfq t -+ Mon -vq the pott mox c{obittrx

Iut ts da crectt tg

-+ -l -L ts ur.l
U+4yL stobirirH
 Also y.f C, r o pote '@
-#
"i.r,. i,f -ye fetctbork 0ppUcd.
: -l
il
*lhen E.=
l*G H
-t -+ polr
@+ Thtu stouttftil tu.
'# sr2
dttt'io -Yr f<r dbork
=> f$ a sustern rec,,htr fo Steo% stak -+ Thtn sttretrrn n Skbtt
y+ o. rgstrrn douvlel rea.ll st(adt slok -+ sgtkrn -ri t.nstcblt'
+ rstHtino *irne Ctrn bt luect Or & mtarLryt
( "'$
httctt{''t spttl {. rtto'hlt
stobf'tttrl o{ o (gt[trn.
i' c- * tt
i

LU R fr 1111)+-+ tls
;" c: .Sl.J -Sr-
S-
a tv

cct) = @* dt ctot not hcr,"( qnq $rcr\ stak va-trrr(ot)corut'

valrtr .o, Sqrttrn n Unc[q611
/r\
t' fgg*.state €ttor Cesc). ' ,Sir.B stak (yro( i: ct{t r,o,( as' +hr
,,s-D " { 'l
Cffirrn ce blw the ttftrrnlt t/p { fhr ConttoLrecl o1p
o

-.J,n +h, d]tcrd1

( :

.stalt -
"{ 0 s gstrn
b,h oLliowr .
1

€[t)=]rtt) -ettl . --. s'rto'r function iv

€ss = -tfm ett)

s\ote (tlrct
t+'o * . - $eoQ
*

-4ccul at

o
oo eLl) = utt)* LC,_.-tir, utt)j
-- ufi t r-t/T uru
"ry| -
esc : {fm e_tlr q it)
t-+ ar

(ss= 0
{0, .th, df'st otdtr sqsttrn
+hc( ur h*, rorr'rrdt'td [.frrs+tl l.upo,rur)
'. ..: ir r .;?a- ja.aaiP.i:41
lrl
-, , :-,1-- :ihe [S ff ii .,i subl'ec[ecl t-o S]rp tif thrn it,fu se-id ,to be
--tl
I

i fosttfono.t tratkfn{.
t, -> Sirnilartq q cr n sLlbjeticol *o Rornl ilr thtn Yetocitq ttotktng'
t| --> r{ cs i, subjrttrcl 1o poroboLfc f/p th,n Accrtucdfor bot"kin6.
SR Porit{on i' 4y,atr o{ .honc,p
(
? 'lfxtd
{ pori{(on v.il,i
=
Rctt o1 d,onqe
d
--t $irc0r/ w{ottty - /lci. C,}ixrJ;
C,

-('

{
d-
tro rk fn g) (rttort"ty frathf,rl E )
=T--
(Acc. lrorkpnS)

4rienna [r,
{1 PSt_v 4rttenna
I]' Rqun n

t'i,:> i,r o-rt,.ccr-\ *ht 19 fn c{ccX +o .(.g lif t. aru |osfk'oncd t.rtktnq.
_ :f
t.r

,l
I

i
I

-r, t/'
I

I
I

ec-t) = ft.tt) - c(t)

(_j l
I

s = t"A-Lrr,6+T;r;e-t/r]utrl _
l:-
l.

-e tttJ- T[,--th]uru
_c.
- o'o (ss = e(t) = --L,ra
fu1rn -rI I l*
e t+.o - "t
tr-
t+ oo
Ir-6Ur] utt) L

fi
Css: T #o
nsiroui
_ 3 la,oriout l$*o) <, Ip)
-& C(s1 = I ';
r
r\ l+st 53
L,i

e .'. c(t) lf-Tft-r[,-i'lrt]i

= LZ 'Lr-\ 4J u(t)
&, 'L
\.S e&J: = tutr)-ctt.;
to
t
I

€tt) -Y{u' n if t-r(r-.-tir.r3,'tt)

=
W
(.SS
n
=
AP
Jatrn ,[t- r( r- d'/r) ] utu
t+.o

fe..*:;l Thru -lart otctcr sqstern Coff\pt.t"t^{ {Aits in &ct eQttojr"em

trotkinq Qrr if ?h n farobotic.
-lTr, Rtspons. nr",U,to_1f {t** frocess ->
(sS] _t_ RL
: SC
Ris) R+ sL+-t f T
nrt) J C c(u
:rtl gtnoa-Q tht TF *Lqndord znd ord,, sqtttrn r1
OJ
C conrfd-tnot

. A . rn)-
Wlls^ 1 .r.l,

L0tl -+ Nqturo.I.@J unctornp,c( .[rgutneX occfttc.l,bns.

{
Lj(<tta) -+ earn pfnq 11c{f6
,{
+ Oornpfng -t' -f-h, procug in -h1.9, th, 6cc8tro1&ru CI/u tro&(a&o{ xdnrdr
{,o rero.
-> T-n crborttkt q q -ri not [^,.nt ux gd ,urtcrfncc( occit[uftcnru,
=Il'lts +0 ktu -Fh, oscittertt'crn,
u)e urrc{ R ,so tt-ri urollafnf ar
CL c(lampfng rlrrntnt,

+ sq! Lf tc ,rnL
RCs) St+ sI
L
rr LC
St+ 29,ors + t^lnl

o
urr = L
{LL
> &u:n = R/f a= Bt'-C
=) ) ?
9Jl
ln
t:
t_

i
I
 +, .Q, deprn& O,n ,,io;: Ct
R Rrsononr. XC= xr--i

*i1 {,"., €s Lo bc {tro R rnurt bs <e,^o

t/vt r/Lc
RCtl sl+SR+
;L
$sfondord 2!cl ord.tr chor. eQn ->
= s? 24*ns* ro# = o
Q(e)

- sr,L = *lErnn f ,G*,n:- +*;

{
' 9.o, t(@{1 ) u
?,,t
:
-€u:nt 'r-lnJEi-r
iir,L = { L€,, .^:,J
(onft'
det us .fudt *ht t,ffu,f "{ €{ 4 kttPfng U.r) =
o

ease tt) (Q =
<-----------}
") [unaamptdJ
Si, z
=O +j,0, ; frnaafnot u rrnots
t'l ' -n- (
Cqsc (ii) (o < €r<t
'e--------) ) [Urra,rdornprc{J
' {'.I tL
._"t : -@ti@,o
= - rl J jto.r
o
()l
^
i cornplex- con.["$..h fn Left har,faf s-ptonr
v1 +
^J- 4.or,'* Oampfnq fartta &rJ coe{,firf,nt
d.t = urn ,[=t : gornpinn
fr.g, o-f orcittol,'oru
.-Cacc (ci t) (Q= )
t
/ ?*rt .tt dornp.tdl ..:.:
[ cr."ir.o-ot,
S,, , : -cdnr-uln
, Roots 3r, Rtol 4 4o'ot:
& orcftlo.lr'0ru &n rornptttrf, c{orn p.U /kftt.U,
Casr (d"1
<______+ (Q zt) [oyodornpe"U
S',r s * guh
t dn;E!-
Rools crrr Reo_[ 4. W(tqci!
tr

)
 -
': :1 :: ! :' -' : :
1 : : :' : :.,:.:.:' -'':t )+-i::a: jat:-'!' :;l?':^Jtl:--::'

jt':n (g=ot
,'lt^
.l',oa

r'LI-XI
)q;-

-lf .^la
o(,,-t-
Y(l -"forn f.?r=:;)
$+-'';"*
:"ful
*> Uyrctomf -+ O'q osrtltofioru ofhu, not du{-eol bcox tts not stedt'
rd
'+ C,hdtvdnrn prd + sfle tcl & (f\bittq fntttortd
-> Crittcn-t1 c{ornfec( + spttct -fctr{*rer {ntrror( A fu:i:
lo*t . , - a -
-> Ororctornitcl -> poots Cr,". unequo.l .f ttmt const onr &tt?ortnt 4 {otXe
dttrearu ( btoa
a{: *h,m t 'ttl bt consfcttn& . o" stqbitlq
*fm, consl n [o1t hulor& orfgtn & fou'ra"dr crrfEtn
ffibit-lt'i cl-atr,-cr e o)'

T[us u]e td sqtttm'

canlL trce Undornprcl { ovtvcl'omf

-7 Pr,.otr.ouX ( igrtmn & I,rr\pltmentd *o bt undtrd'arnP(d rytttm

f,o,L o< E <1.

B tst ron! ( ,{ roluu 4 q h o'3 to 0,6 .

o.

(rfHcot\ ctornl<ot n noL Posribtt ]

I Pro,tic.*il
""'t= LrJE
=,
nrt xrne(t"n
d* C:-l=f L R=t th,rt tt=! CB..t R val-ut cl.ou
cuL0 d"ht timt).
Fannt

i
:

w n : ? - n. |- !--:'::JI-.,J j. ::_.;,,:_-:. _.
- -.
-F?----:*;;:;t:;;t'lt;;:;tz'r:-j':a'."t-'r
 ::,.-::;o13_-j-7(7ffi .

tl)d

S\l)lY
$*nb ttity

= "{(€r,tl",)L-r
J
r'orio blt
ccnst

sLaUititY de*ecr-sq
fot Erl

k
ruc"r$inc{Q stqbte :1

ilicur frrt iocu-l dycron 6'rr fl-rrr&w Patt. (ot),shown abore t

RaUr* '{ cfrttr -,.1 [.Jn,
B g f g+hagorcri throrOrn -+ trln : J,a+ u3.i
4, .,h t' =t^]d UNd
_/,- c yF->- J*€,
L0rt
lrJi
. 'cPqP= E vta dq
x
W
x9(
I..{=q
+ &nf = jf
g $rna A.
.g $: 4s"
cosf r- q = L
Jz = O,-loJ

g,,-+ . q q llu from o to I thq undu{qrnpqd sgstrrn'*irru *o.t t &,rl,o

-
( , co}r-.'rh *l,rt cpt<d 4. 4obid+X d ,Urh, fr* .
{. -} T{ €, 1ot- .}rorn I Lo ,o tftt'i oVtrdanrgrc{ s1r$n, tf6rt .rrutt ohrt }o
, o:hich +ht ,y.1rt. syrco( & r*abiu\ ,lrcr, :
-/
o
JUJd.

-Qt:n fxoc{.u,f i,
const it mtoq,
-Iw.l bo th oar
6 Ya-t^"ecl I

constont "m.tt t.
eonshrnt r/J;
t

Itrn pulst Ruponce - I scti <--> t l

{ 2rrct ordcr undtrdomPeal ruettm (o<Q<t) '
-
SLs) r: Ni
(s)
i

R si- zQ ulas * trJ,|

i

o"o ccs) - ulr,L ,!

sll LQt^Jnsf GlnL
l

-n l*
0srnq 4qnc(a.ol >utrlt ut urill t"., e* cosbt utO <+ S+q
.lo d'nd r rLr. €tq) \ u"
t
. S? 2q tdy,S+ t"-nt
=,
s1+ 2(c)'(Qr,tr)) t eir,l._ qh6's.orl

Gn 9', )"+ *] (r* e.')

€+ E wn)) *i
:" r4rt" gq
I

CCe) = '. u.ld t*

(so q u")i t.ld" I

=
ur* rdd
sinuAtuttl
:v

til/fi.9, 6t 9 ur)\

,oi
N lrR e't"! stnurat utt)
Jtrrl. .d. <
ao

:
o

dS"L., /i u{oblt.

I
 04
.-:-

SI Response.._ Lu ttl,.-+ UsJ ,

-f stondard 2nd ord.rr ',-?ndtrdornptd sg1

a
s[enn . ( o < E <t )
CCs)= tlnt ---. J-
tuff
._<u* Zf_r.UrS S

Bg Pattfru fo,tion
C(s)
= g_ -<r2Qtrl4
s?)E trJnsf r^ri
tnd
5+ &con & torr Dd
(r (s* g a,)r* fri $t(runJ}.oao
((r\
\.-/ -- st
-1*
a
€ L.ln ) 6 ,uJ.,i
(_)
(st 6, tdq)'r U1.{
i_
JlrA- (s* q dr)'t uli
Nou: tak, }. L.I
cct) :
I'a - c-- &u:nt
cos r^tdt _ .€) '- Qd,',l
e sfn.,rdtJ u(t)
4
L
Jtr-
crt) (,
)t L
- €, rr.iat
l
L
F I t;- .-
L-.1",
,sin I
1nq t-1,* -t
-r C "l'--'',,r'Jl
: wdrj
","^
corfi )i.(.i.i_)

oC

g -+ If ure .{r"f|,,tnh"ate th,,1 $.p ftuponce Lrr( Tnful,, flt1o*.

(': thqf tr, E ur. dtrireo{, prtvfoytg ,
&et

SR
- Quln t
1+ <nvttopC ,fl 1+g
J .- e-&u'lt .Tl=t
Sl-q'
-1 -+ envtlop< i I
Jt g'€rt^l,nb
-^-it:r,tds
--l-
-.l ?Le
Qr
-n=r
-> Sttp fferponre 4 lzfttcollry d-ampld,
.,.,iiu,, - (€=1,
-t rt urfLt (cr-ur [root ,iftLfnq
*dme bco< o.f ,o or.frr,utlo*.
*\
-7
-To ttro ncr
11r n=L -
\'(a% to"s't'; (-'
.t

r'i !

015: : tf.n, to k.n t{ h esp on sc fu rrtue f*"", o bo 1oo "f tl'. dlh"l
!'ofule frt (0r t -+ und o dom ptd sqsttrn .

cate
.1{ Q"or dom}ac0 sgrttrn *. Ft ot{et sucttrn *.&. ff-.ll
=fh, tema tqlctn 'bq '*ttrponr('
th, to rt&. "Jrorn 1o% to 10"1" o!
-f?,,fl,rttu,,.

4t {= tr =+ clt) : 7oo"/" d /Crol ya-tqr-q

.
: 1oo "/, \ (t),
' /_ ^- Q,.lrt sin(ulatr+dl
r-,e
.J,1" '/
=/
o^,- ^- Sdntv
€:
- '''[qr s,h (ula tr+ d) ; o' I
i

L_-:____: QU I

=o
*o
.o" si'f@atr+d)
t// =o
dalxt{ n11
0 hadrhnr onk
T T r: [n rqdier'.l
= .L

I
 z1\ ^ "\
(1/-Iro[ ^,
{ime ttp) _
Jfrn, tok.n bq tht: htsfloflre to ]til't i**',0'tp
-\----------------
Feqk valut (or) |'lortfrn rcrtrrt +he ktsfonre'
u rn
"f
ooo 4t l=tp:) d ctt) =o f crt podrt "t l'{o,rbnct or fflfrrt"rno doft
c(-t \* -+ fr.l, n <r,ro
]
I fn
ctlt 4
- 6tlr,lr .I

.{, lL' sivr[r,16tet d)] trttU = o

{r-t
&oz (Rno et t=o fl tqk, l's dtriro:Lt've :0'
;
(&@. @o I
::--l--
f -- erklntp
co, (toatp r d ). t d 1 sia (trr6tf *d) fEfi:Ui
\ft-€r L.J

--: o
*L0ne- €,- '',-
t",^t o

#-
r*g:- irE'
-',1
L ;;"d
cos(c,ratp + il) - E sia (uratprd) I =o
-J

cas d
- E, Lr'?r-t tp
-dne-
\[l- F] [ 'r, U- Lo.ttp ,$] =o
\=--)r--'
Q"l
-4^ -
-f-v =O
uldtp = nn
*
t,I.- = r}IT ft = octc{r l'loximo (ot) fivtrsfiool
(,d
#n :- lvrn', t/tintrna &4 tlrldershoob
}]=1 + ]f"s{ or.,rfioot
[ = L -) lrrrt unc{tt shoot

s*-f@11o"imurn
peqk to4 leqk or,r,l,ooL Crlpt -
g \y 13 ar tfie ct,fftr.n,, btttrrtn feQk rolrr o-{ *h t
ct,f fncd
Ci, fterponrt t strac{-y olait rals t Ccr.) *',?cr( }'oLut"
E-t

ff nl = c(tr) -- c(ro)
f,\
E' flp = c(tp)- 1 I crnit slrp tnPu-t
dE
h;'

6l
Yr = 4 [rupr-r] I sttP in Fut

€
G
 -: ---: r^-a--!-:--a-: +:-i1lm*_

/, llp = XLcU+t - c(,n) ]x too |' For st,p ltrnit strp fnput
fllcc*11
oY? = cCtT) - c(a) x loo ;
c [.oJ Fc, sttP/unt1 sttp tlP
* i Hp c*ritl br oLrff.r.nt {0, stil X unit sltp' 8t1 "/oflr clou not
4if{'trrnt .fo, ft,P or. rr n i[ sltp s tqlal . '

, ,

*Noq-- ,Or,e to rhonqrr in (lf Rrnp.Lfdltt- , l'Tp .horqu fnpo{t{onaht

[\L\-r Oi
D,^'&
/o ltlp ntmct-*u un offt.tto( D

c[tpl -1 ; -for unit sttp

^,t'-6tlntp
,t---\-
!-Po
sin[ur6tprd] -/
{l- E'-

oo l1P

.fo, " un it sttP ill

t

& u'/{'E'J-
. for stt r ilr

+ Xlp 'lte teftnts

f tli, do.n linq zcqlfo q A tp hrprerrnts th, nu-turat
la',

t'*X*.n,g qln {0, *h, q *,n rolru o-{ q "

E Polt paLteuru
"+ &nd ordtr Undrdornleol sytrrns 0.u g&,"r . t:l"f,lt
Pa11er4 ?.r or J&mr Hf .
 iA
/QJ
,\/
I

(
do* YP----* Q*i
{
-{.
@ hou, rQrne d f.'r c-q( Pol(s
tf
u.j -_> Thtte 0=u + err uncltydornf rcl bcox folu Or( comfltx ConJl{ote
i ofrs.
{.
\-..... k
{'.
\,.1
@ $etf i,\q
.--:i- ffrne (ts) - J t*,
ttkea bg itu ponr, -lo #i, tlo"n 0,\ sbt
r:, u-rifr' i': i,/" +b/o o-f toleront banc[.

: Y la.tuurqu' ts = ,. ,T f6[.oncc bond Nor bat.,n into considuattlon]

fl;
!. - -> To[e onrc 1. Ctf (Is cho
r
(.1 t"te

! {, * Let "fot L'h - J

- i-

- (i
"
at t= ts + l= ,]s/.
c(t) twt" _{
-l -irror vo*tr-rr
\ { )

€'r,1ntS
* '
J- e
:,r l_ Q,
o

{:
sfn(r,catr+ 0J = o'18
{':
ooo -- 6, curt s
*'€] e s'h(uidts + dJ O.02
:. ft-€," =
€) \=--'-:-)
€j €r1rr-[opt
1-i
Arttu tt cLa a,aL i dr-t.1a enretopr
""q.
=eg.' Osti(Cctttbru a,rq drri +o sin (t^loh * d) '

(,,i . ": ._ & urntJ

e
(.;
{
-'(.. '-e;
\ [,,-,'
B"J Q{r ; &'(< r
\ 1l t" rJ Fqt * I
v\
? - €rtlrrt
-(' L- 0'02
,t
 ,
&dntS : 9.\@o)
q
oO

c
{5=
oo
q*, =47
5&lita'ty ,Y Tot,ran rt k ><./o 0
ts = j,E#J
!

f1torr
i

I C f teadt stok e,'ror Cr.,, -

LuU'='tutt;-
at^
(Cfl

= uy1 -*9()+e sin (c'o6t rb) t-ttt)

tr* E"
-€,unt
e
'
5in (tnatt d) utti t

tl l.-cr
q f'
eo
o
€ss :
.-- -.. ---.
0rrrl €Ct) = g
t+,o

fr**z1bort-|oarnulo.l1hjutetoutc{trfl.td{o,unc(.rctc,mP.ds.jrtern
c.l tth {kp Rcayonre crz*. ra{.,.ct n{ll
for Io< ;
Bctt *hu, {ormuro, dru und.orrnplol q c,r{trtco-l darnpedl
.rrorr.d- f"
skP Rqporu( ,rXrlrmr o",F<==i} i

i
:+
t?= ,"Ir. ,
t^)nJFq; :' rlp=;4rlrr*
(.

0<6<l
€.6f .
=) dA,lr, tp t
+ 0scitt atrbru ll,
+ slobtrf tg f CR mEon trqns(rnts drcrecrjq4)
t*,rlr CIIrqt a pD contnoilu dou,
Tt {\u ,, .. Sta}itft *4r\
I
,L-iiL-;.:...--=t-.'!:..r-::..-;,,:.::ii;'.ii:L:-{;a.*7{+;{.*nai*'!:;:.;--..;-.-:.--...--.,.-..-....-.....'...,-.-...
t- - _ : ,r..

6s=o -> A_--

o <€,<l
#
o
J trht ,rr*
o -.&uh o
a
-J trj:r X -t^ldi
.{}
.tl,

-5rO
o E6
T
5 - Pr = -€rurr tton{6{? I =
o n*
-YL_ - &un -LonJEr-, 9 r) =
i-Q*r-.^I,J4IJ
,{rr., A LarXtet ttme .nrst ho'',,-to be 66v5i(ertd"

:" 1l ,

tteP Rcs'ponrr -fl Arr uornp.a s$t mi,-

]nPt^t n crnil ,r|1p.

As e, > L sluxt i"u It

lncreoru 4, Ruforuc
brcom, Stoo.
 e
fb.irrtt"e - To dtttrrnfn, *ht ,:, c-+ on{. sgcttrn
"4----ll_-----+ r" crrq trotheng ui*ho,^t,'
dr2tndf-n9 orr thr hufonct
\ "f tht sgstrm . i;

-> etU : )L[t) - cCt)

9
(

ess = t+^
.0r"m eCt)

And By $fncr-[ rcr-trrr th tororl Lrl .!

: d LdmsE(r) $ And 'l,rol va-Lue thrcrrm fr app llmhts onlg

S+o L ri fo[u C t on,1i 1n. d.tr f, t,[t hor+ ol
tfou-r to {fnd s- ptcrne
ECe) -> ]
C ,4 /l
ile
R l*c,q R
o
oo E- R
I+ C'' H
i.

@:) u.rr Can find fCrJ e-bc 4xnrn

g= D
,e [r
-ot_ I F--
t--*
,\ l- I-qHl +o' I+G H ItCH
o
9o 0ss = fuy4 s.-,R,CsJ {

S+o
It ;(t9 H(sJ
.

€ss = f Lncs,): atrl HtgJ

)

ab :Lf cue krro6 6p,ntoop tronrfu -fn. i.r C.!c)Htr] A ill

o .-^
Rtg. ttan
t can fin d (sr f,r orJ ,?ot.; & arrq fl/f ,
cpr
,'

?-, Bcol s{eoca-g stcLt€ errot' rt a-fn, o-f openl.oop tr,f,

f'e olbatlt & not e{Ferffrt clt sfcoctX str.tt. 0e<dbark onlg |,r\tn
lee

; 'fp der"co-r, *h, rrrotr fu .konsfent sfcr_tr 4e sleodl 4ek ,{

€IyorLt .ihrrc (i., (ss) t rhf Jr (qnnot be rtdgrtd. by , &rdbarfr
f,nn br efu:rn,nqfed b g ff conttofiu,
,
 2\

g9 = .l ._ c'lC\G
*
l+y-g{ =
Cry
R(5) Irsr ,+0 H l* Gr '
-=2
rd nothr"ng
q
mtntrbne d -[qke H= t
(^
| -:- Crf'
i-1Qpt -t
C'rH (s) *l :I
= ,frsr*y sr
QCct fifs) * t- . oPtn toop fr.{x.
ST
-{ $t ordu sXsttr"n
p )nd oy,Ctr sgstern -
=
trn'
ftc'; St+>E,,rrsttli
G Hfs) = t trl=
s! rqur, stWyry*
(c9 H(c) r
: ,d" ,
= optrtool T'F
sar'
.Lc_;t.lns t1 JrlJ olciu

rorstrpi/p- €e3= u^/t/f

. S+o ' =0
l+-L-
\- sl-
p tll -
For Ro'a
Csc : 0rh
s+o
s tf* .= f -

. tr Zsr

s+0
It urnl
sCs+ Zltiln)
€.s = s+o
-Q-frn
tb'
6+ t l-1:
sf 2e trlyr
Css = >q
Lt) tt
 fut Paro'bo Uc tlr -
l/s3
€sc = -A-."11.I
.s,
S+o
It ,t*/ s(st rQu:,,)

{ [ nttt, e(s) Hts)]

Ffk,t "{ R(sl & GCc) H(s) on iss-'>

(ti-

But c.lhrn LLrr .fue{ t+Peol qt RCsJ. *htn Gft) 11$ lrtpt comhnL:
+ ,A.n: e|[rot "{ Gk) Hcs) *o br iqmorom Conct"clu R(i] J roruhn}.
LE

Ffldasgstera-o
. onrg {or oprn loop
troni{er.fn. Qd oltrn [aop eXcFrn,
-*- lh, no,
(t r,
4 foks 0t orrqtn ( a sgstrrn f'. ocr.!.t, d \ l, "i oft r,
Ordtr-o{ o sHstrr4 *
' fu;; g, {rr A ols.o .ior
[o.,rp (foster. mop eg*f qrn" '
*.\
' lhr lo'o-+ polts [n fh, sustem, \

.ps *+ 4'lt'r
opl\tng
ficdboc! porit-foo ,Lony. "{ potu b.ino.o{ putu
doen not ,hnr'Xu thuu ordtt
& &ltnccl {or 0 LrF ar tutf(or CLTF.
Eut tX Rt on dr'|fnrd Jo, oLTF o\"(gro< locat(.or -&.fer,d. r..orfqtn).i
\
*+ Q tsl t-t(s)
Ord tr
'<---_
.t
5rr L
i

l .-1

3
sz Csr r) I

*t_ 3 3
g3
tr
I Th* tgp. no, of stondcuc{. fut 4 }qd o'tc{er ssstem - J- .
 'g ,,s* t{ -EPe
= ?
.Sn+'Jst t3
lu 0r.[au-tt TT n closeol 0oop IF-
d LrF
oo, -f rts:[ .fdn o
, tQke ur,ty fttct b o.tk H=1
c1(s)H(s)
60
= G+qJ s+rl
(?'rs r r3J -Cs+ ul s"t6stg

C
al
15P( = (

Clt To -jrn.t OLrF fro-, Blotk &taqtom.

TE,n cul *h. ferol batk f oth & "ltn d ott P.

( n[e) = le
jcs+r{ i JI
=
Ir 16 .qs s [s+H rt6oJ IEP,-E
S C(+t{)

SCs+r{)
TXlt = |

f-|trt ur( connot br,eok .lht path r+E Begru e ft "i n"t

Attuo-t-t11 il-s cont"ot[u. X Otfart fttdbark r.1 HF{

o"" (rJe nr,i[ fu ,r(parcrle *h, controllq ?*Ih 4
ft,d batk }lq#, ,

* drr of tqk, fuo .ftcdbark flattu "f

fh
J, I A -t *a.tn o

& Redrqre btock dra1ror,.

 -:'-il.;li_1ia.fj##ffi_ffi

S(stq1

Morp dfscon.lrttt $eo[ botf

Pqth.
i" OLTF = G le
/s Cstu.t
l+ c [c i-r] I t .B (as -r)
sts't td a

le il

t:
sCs+ulf te (os-g
g Lt g[re4 G: to
ti

SCst.;
& fi= sCsr>) ,l

& 4 Hrsl = .lo l-r

x /[s+ >1 Ir r,n, - - I
i

lo(s+u).
y(s+r) . -
r) ." I ', Jr' -_Y-'
CJ+ t
D$ Hrj Bk,n 'i?.,n Jr
'I I (
:

(.
I
I

a\rz\t3:1.-..
iJ!.'. \
n ho
LSS: s' R (s1
Jaom
f s+o j+0fe) Hir)
; €es- f lnq, 6trt Hesl] l'
)

x ,l

r'
;

x \-..
:
I

Tgpe * c:
I

Sg"€, :

(
QCs)Hte) = K Ls+<,lj *_ -
t:,.
i.
i.

'

[stprJr---
:

{ t-

J @
s
)f st-
O Vst
(,
+&m {xLk esr- sxl/sl
fss
S+o K (s+<,) t -
'LfrY1
soo jfi cslalal
-Grp,x *
@ ;...
i

a.

t?t)a---
= -Qr"a .t
S+o stshU
Lfrr (tqntl,
J+o
*---O-
: a,l
Jess
I -.?-..-.--]-?.,Kffi

I
t
t i Sfqnrrl t1p. = sgsltrn tgpt + 1
L
( , =) $in ik eYror o
.l xA IxB .l*c '
t ( )
\-ss
s g3
L
iii,.*,rri tgpt sqsttrn ttlpt t: sa

' :) .o ( IyoT
{ T-o -llff ,r3 &
{-
S fqn
( oI trl
""
pr S Sgsttrn tU p, ItKr

-LxB-
i, * I{ T-1" o a3
.
stlstern Ccrn per{ot-nr kv
rhtn
:', -f:-'t;ninrnx
.I , r,1
, . ,,
,itl'oi ?osihh rl
"i:*}
f
ctJ TL J_xc
Vn

-, :'''' ir fl
*'"+ .r-tithu " {to'tKfn. ,
{.1$e sqrtt, Xril t hnue r-3 o o o
I(: *0, totorl 1-g p1 gfqncr_t r ,

{t i'I(p = [irn G&)H(s) i Posik"ona-{ error constant, J Th.,( o!( onLyetwr

{,, f X, = J-frn s, ); {etoctLX (}rot eo'irstcrnt errcr ect ntrd fo

Gts) H(e \
{'r t
lfrn s', Gtr) H ts) i AcceLtofio1r (trox ,^,to'qlJ Qtc'
{':
-f1 -l Kq = sro
(., 1*
L--:> I

{r Str*q, stn[t errer cor,,tonts Qr1 statfc (t-ror cotl.le.t'nts

C {or-} ,0r !oj, tor) .{tro,freq. ger-trr (orJ stc"q stcr-te qo*.
o

/a
t,
€) frn chrsion -
-,
€2
r{ \p. t =+ es' S but stobiuttr *r*.
€ --> f C tV pe t + erc{e r &f ateril dn 1se,,
€)' =) orcittolron frrr'
C !: + Sfo b'f Lit"{ r}stl
e'a-+ B,rt q
*
q-) I orctt,.
"--.-- tsu-
rJw tt doeo not rn(c(n tho{ tH?t 1su.

sY ot Th.r, ,i .trodt o,{:f, b/to ,,ku.rrarq A stqutdt$ .

fu. -----] Cornyromlsr

€i' ---" - '.'"''' "':': "" "" - '

 Y
:.' :
:: a li :!:#Fffi
a:' "a IETi PW -4-M
v

JgI= E a sgrt(m "otttr6r11r" th,r, I tto*,-"fl btuJtobitfq4 Y

v
/ cccrt 6ieq

-> flrdrr .t cr rXrtern ducnobr, lransfral, brhcr.,,,ou,r cr{ a sgrxm

v

ephtr,a, "tql, ctueribu at o\

stete brhosioul,-, , v

+ ?b) = 7+ ftts) H(s) = c)

L+ -+ s_r1 = o =) h+) =o ) 8=-l , stobt,

1+ | = o9.rlriii -o=>x=-Jt JTJ1:5 ; 5 toblt

s(rtl)
!+ *+
1'fstt,)
= o:>
v --7' r)n3.prr-a
tA 1-l.-v -\
-./
-lts ,{3 i Unstablt

Fis tvpe lsei j? o-rc(tr tsu :, t'|auiLlq $ru -

c
I Rut to seFtre [{ d,oton f I co nhoUu
o
r( U-ttcl su *hof $nt t{or'}'t'
-Jor frq tgrJ.
,i
oAP * f)borr: q.L( -falel .,,
-1htcYt.'vt
{oom,,,-Qru }o o.u r o-t-i'd
{ onf4 Rha-t /atru
;i " trppLicoble..
v
-q GHCs) = lo
ftra (rs lo, Ro.nt v
ilp.
8:t v
; j)
t

J-
€sc =o X But thi, ll
p
LOTono
{ Y
.". Houl to eto ? v
sqrttrn ti I

l."rU tho,,r. eqn . $art n its stauiti{ X ,}ns1out. ttun *ry v

f Yt !1 ep ptu'rab1e,
"df{
-) sL+to=o
9,U= Io I

s = * iJ-ro --] s.tr*trrn i o4l rlt o{irn cr?

i.) tn urs{out. . But krt }on,t &,r,0.( ,k
*
Jt*\ statt Qtr,r bto< r'u'porut
fs n.t xo,'\ fu *Hogt rtcrtt.

*',"T,:-";:T;,
M-
c -. .- - -:-,- -::. >::-r++:--+i.1insiEtffi
o 2?
a' l^r
() Q Hts) = lo
o' sa(s+l l
o' 4:* t
gts) = S3+st+ lo:o
; Gns'loblr
o ( /.ess e l.rot drJtn,Cl.
o,
E GHcs) = loCs+t)
d eI r vctoti\ ill
o{ sa (s+ z)
'fen {o.r .

O, Aq ole'I
k"r * s5+zs"+los+ lo = o
.-

O (:,,,
i stoUte
Hu< syttrn i, rrool'.t"r{ *teo..\ ft"},'
L
oo g,
ai p
I
a{ J! J_-
5)- --t
*:-
ess = ? con br {ind .

a'
a"t; murtf "/p sg,h*-
lo,
{1
{<;
te;
1C
f-l i.
d! Htrr s uperf os il-fon thtoo,m ri." not cr 1tp t-fcobtt 0"" (rm{ s\ncrfu onr
o frlitrncL( srrXnolr l.
Lc, sPr ; alptuocobtc on\ ior eurteunul riqncr_tr .

*e €ss {&n .g.

= s+o Er(s)
\s
Not^r uJ( harr.
!V f) +o )-L(prccrnL E- ,€3, tq etc tn ttrrn "t E, Ltfun
a o.bovr fir.n,^l * o
-t-o alP !-fcobt,.
tJ
:" Er = Rr -C
e
fi C = Ez,Cnz Rz(r
(.* ry It Gr Gr1 It 6rGr
-o Et = Rrt E1. Cn,
!gJ 99
C=(Rr+ErCt)&t
a
-€i E, = Rt-R"(r- E,Qr0r
oo'
f)

_g
E,
Ltr fr,(:J :- Br - R Cr
{;
==i.:: -- --

-
 ":'::+..W.EX:t-ii:-f.fr ffi ffi
cl
"Tttt xloul Ld(
hor, consfdted on\ J elerntnk -i Qnq sqrttrn .->
i'g Rerfdin, caforfdn & osrtttjo"X.
Bu$ Noui ore wilt .trc th, t{furt -l 4 Hr thrntnL [.r dtod ffrnt Y
(ttrntnt v

v
&Ip.f1.t!, det I a(ed tfme (o"rJ fhort .Qo \,
ICme dornorn F,!

t49".n.t_eo-*
t -to
Cctelctgj Phnr, nrrq CR,'qht ehitr,ul

L-r to
------ Phar, {to-c{- ((.tt rt.,t*t.U.t

e(t)

gtt) = T[r.rU] i, i* vcr-tl-c{

It*-I

,Coru idertd ,
""t ,fooc"ol hfme d,mtnt
o'
yrut
v

+[4_,s,,r
v
lt

t,
$6 gCttbo) = T[xttlJ v
(or) {i v
Urt) - T[*(t-to)] Y
+
Colsfdrr Unit .1ranrfcrra v

i:" ' gct+t)= xtt) (ot1 gtt)

= tctt-tol
.Y

l-T v
,to
cg ' -sto
I(r) e"" = x Co.l Ytg = l(9 t v

v
Yfs) o- Sto
*o '+o' .ldt.
I.

X{s
TF or\ duu v
- v
P
-
-_sh
oe C
ItsT -; r,'{d r* o'delu sgrhrn har.'+o' d-dcrv ..v
v
Y
)
:Y
!
 ^1_
wrt

Stt 2€rLonsf trlnl

S Tl o-i o ry(krn ho"inq 5 units C oo"o

@ -l-rn 1
v s-s o ,g e-
s"
s+5 "zt

+ Ett.t C e*sh oo ,hn*oterfsffcs .t: skrn -

Tho ug h = o-rJ*, =7 fr'1-,,

g

\- s: J.o .-) &eg.

*$to
T[* tr itt stuc[{ t.}ftrl .{ e {n $rcq. cQom erh ( c =l'to).
'-r](
frroz c{.dq.& egturatunL *o f{ro.r. loq fn I'o-

lc."b | = l'1 - 1-

/ Jurto
/-( = += - t:to ltool
- wta x -Lq o"
1T

= * d-7.3"urto I
Thtu .Bue {6 Jronrpo{tcr-l,0n detoq *h.r, toitl not b , on,4 e$$.t
0n Moqnitc.ol,
q- . [Xp dtptnclr on i''totnltttdt ]
orq Phct. uritt ,n,P{l bt ai{t.tta[ ,V ftopoxleilc't"q deeq "

+ Ihir f, *fir corctftforr for

distolfi"oa [u, tronrrnisr for -t
O si'qncr-L thto..yfl 6n LTr

sgcttrn,
i.t f'1atnitucL -+ (orrqf

.:
4 Phtr r -, lfntar $rr'
uf,.
"+
 sR o-{ sLcL lst srdtr (qttrrir '
-+ trlithoul- Ttonrgoficttfon ctttog
+, t0{ifh TfaruportaHrn drtcx-g

t
SR a{ std >nal oTder sgsttrn (o<Q<t)

('.:

.+Noh -
J.
oaEr
to"t,i ct"t-og tr,"tp, ts aLr t:?1 lr.r,are,
Oue
B u$ Yy lt rn &r1^, .ro rn t
-> bco< Fn En ituak frfl. tt

' -i
o'o -tA-o-
€e s = fl? *. C ) , ,l'- * .oo css' is not rtu-re to ttonrlo4otltn dtlo5.
-> fnspitr d * ro fiedb a& sryttrn' can bcoorne unctoblt { }hu.
-& flrfl, {ronr pofrctcor d&cX I tAar. to-q ot hqh figu'n H.
C- (nrg = sCstr;
3

&q
Sr,L
= --2i"[h=ii
2
- Sr,r: _ lJ,lTr_
'SH rttrn f, 6l crbtr
{--rr fecduoth)
Afo ur coytsiclu scrmr sg slern -+ (ctin , fo l. locol fcnn {ro5 ft^in &:trNr
P,t
Jt.tlt * uni+s C **:,

:'.. . l-}-_r.77--.-----.::--.=--- :
 ',.,'j=a.;v!.42:!W,tZ_)?Z:?...a:=tai.=-a.=:?3ffi !fi ns8s8q

ffi
z. l

3
oe qH(s) = 3. d,- tr (l-)s)
.3 Le, = r- *'f '

SCs+1) SCJ +1)

{Lt':) = sn+)s+3-6.s =0
Q(s): s'-qsf B = o
-Sr,r
= +j ..ftr_rt
2_

S;,,L" * ,l
J)5 n
\-^ t

Unsto blc

In u, r{ut to tron, po{ta}r.o n d Uq stabiLtq "{ s gilrrn gtedrrcer

fnspfto .{ *r( fted batk n pttsrrtt .

4 [tve{
{ cttotrnrnt cfuptnctl oT) amt' "{ a.tog

Forms o/ lronrJ., Funrtfon -

O.Poi.- <( r0. Jo,r m a). 'T-6

,,,i e constont 'Jotrrr
\--l '

't "
ttLt -I .t.
(+" \t
rpl tol r. e I r, tt- , cunsL{o"rn I
JO L
-Lo
[s+:)
*-\ (={c !d,
d (-f +,)
G. *:) frs+ ! T= tlrne conston
Ex - loo
-t.n,
s ftos +r] * conrtont -f**
-> t8'ne roz,stont f*^"+ -h. ?o*fu {rr. thr
,3 corretont pa^t
"f
a*.r -fin fte folu & {."0s" rn urt be erlcto[ f6 1.
{rnitt folct \ <tos rnearr( thr lu & {uos th o.t o^r ha.r dt*}.
fo
hr o-t
"q
PGf,"-
 , ., , ,:Crrttts)

Kp= fu'rn.=+ =+ K [orgctin]

s+o TStt
Kv={d"aS...l(
s+o scT( + t) =) K l,,J
Ka:16rsL. K' '=> K[',J
- s+o sl(Tr+r)
Ar^
.q Fthq "0c qo.fn I !,: {or RomP ilt i .ITIt
'A
lF-
-IF
-. (s+t) @ r,o @ o,l o t,t. @o,o
(sls + r1
,,4r+
'
T:F = ($tr)
,.1: -'-l x =TJ
r-tL
LS+s+J)--> -]?r"i ortrt {oo*.
Tb {fnd ee . ,.?
v
lloo tdeLt? --t (i) 'l,n.t Ro.n g )r tr ?oan r (Csl .t I

st
(
:-?
Gt f*'n 0tntrqltzeol fnonnu (
I
\1.
Gts) Hfs) :S+tj optt.{ooP T.F
J"+s+t - (s+r;

=-
'gz
J+|, I tgpr-z :

$afq -)
:
oo OPen toop (s+r2
! s1
bco^ ti^. ;"'td*"'

[oo So it bX ffrn r , r", l<.p,efe i^

-Lm .91.G*,t _ G\
ka; s+o s-/
t0 W l. ...

TF =, (S+q)
jfua OLBc go..n,
:

s'+ Js ru i

!-
:
i 1"-
4".

i-
T. 'J
I-
 €s
- T'r4=
Tf _(5*q) = =9g['t/uo,)
\- \- ,.'-' 13) ,3
(sirs+13)
G"rs+ r s + t'1
,3/-t-r'nrs+r\
/_L.'n /ftl .r_
.1.-r^.. I
i lra _ , 1T-,
ur ) 1__5 +f Stt )
13
\- lt3 t3 ./
i,
\- +h3 + K Cor?d") Ccr_>c ?c.inJ
\' , -+ -To
{ind ol0C Qain {.nd oLTF
\-..
\- t
. 6 H(s)
' S+q
= .1.- s+9
=
s+'ts+13-(s+u'1 s\es+g
\- t:,i
("/rn
( lol
! )Jl*
{
\_ _ =@
(,, 0 LBC gain =
oLBc
$*n
p - #::
s+o "-::, \ *-
=@
L- (, she s +9
\- {.

v {') 0 frnd 11.

(' {rr.u ralrre a* +h.,}tulonsr :}or loutt) flr
\- TF L
=
.4q ,l - r' 3t)-
e!
L- {,, Llp = urt)
= (L)_* "orlafn
to
!- ;, I' n
$ C[s) = !, . 1o ' - I dstr-
r:
!-$ I ": F{naj *h = +"{ alf
=st+_Jl
f.-s JrrJ I
I

r _{
'r".1., = r_
t)
-' . ,'. - r] , I {x \o

€ss .- 1o -S
.€Js =- s

,v ; CHfs; =
! 0 *_, =&(tvrog
tfp = tafs
\6i
\v srr Uj
esJ - .-
!-llo

: fi I KP=rI
(si =
I e ' "/, =O eau-ru- 61
 .A i.
CtrTIP

-> TF = -@Jtqc""n .Jt Std' lsd ordrt sqrttrn

Ts tr
{c Aoin = L
ooo F{rcl YoLr-re

"r. Fsg=l
-> IF= .t^lr,' std. 2l'td otdrr sglkm (,:

s? tG t ns t rrl,l ]
= utAn { O I tq otrr
rc'- 2€sS -,+ t)
f*r " o=,
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:,t=z
t'
B 0i,roqr- sn=lt- e - st ett)u
a 4r-t
t-'
o' aRfsr r-.' 9rt^hn=
I
(
ts: .. lqhn'(
gvril sini -; l-lrn'lov'ror'l
.'. t tin: 5.
@
ovr\y. tvfontnkai-9 cv; r dawrYrd
& -S*
0rln x Svre --> trvrdrvda*P'd aR. b- e' t-s ) -s [+otn t- s)+ Et*ull
I r
s { x tx}n ('*Htal c}"val,|
S = nnsgttn)s+es}-rrsr =zsijl1
E lhY\
t"j
&'
o T{'sL[rr1
rr\ . r
e .sr-[\-{sl-r12sl)uu) = sf lt^-! - 5-.,\
? o'

I lt = -45-- ,'. tln'!

= Is+S)'r 6'+t(rto!
o -/
L- \=1
t -

o TP. zs{esl
s
Ir,
B &eI! 't *+4E+16
4D lrJrr, 4
lr= X_ llo
s t^ri r{r^ln= 4 ; t'
tD
.ir *- t-rt" -"I*4 = 26
€
= ;-6
"l.s1I/-
s +,= lt5
I 0tott,- l-
\r,* / I

6 / Yurt *+ g! +e-
),

s Yttl : *r),
I
t-
+:-
;
)

@
L
# \trr =
L+-9-+
s 3+l 9+r

aflt
\r .'. \tt+) = --.-- a).al I A) .

#
'{, A !1 ,}rvv, 'l},q[ r,) rvrodrl)rd ql c {o)=l l, shawtn ivr
{iXurr ?^d )t, ek{r I
(

lnpo'ru q .)lu <Yslro'n '

{.. -

1i

R.t il -> c{!) {

(
(,

(
\*^_,
ct\) = ^t.I- e CLTF t
sss R' tlJF>( _-.--)
) G

'. c[+1 : lz + trJ+tl {

(to): 0
E- 0
V

t( u) :\ * €
I G
[,,i' ( {!l = I +zt
-J
a
{/
Z,'o ilp rtallrrr 7rn-l Shrrlt ralontt €
lr+
.t -.'ri.i, e
' p Trar,ru,nl

t r!) €
'!
.K,rt 5L
€
G
Qrtotz,- c (i) \b 4
€'.
u{i) 4s'+Bs+16 sa+ zs+ 4
C

t{n :2 r2 ! hn: )- => \=ti1, €

o{t! o'\t* Etqoo =Q €
?
&rrol). QH6r. toK-
G
s[tr sl -:
o'r Qrtgt . *.+ tos + 9O o0 o
o
! vohhunr lu xt,u.l l,rJn = tqu* x 45 tls
| /\tox lut+) @

v+ ut+l
tkl Ur., = [o
G
Tr
,'.\=o'os 6
=Ls) ,s
{r
-6,
-T{
"# =){s!=a(o,zo
kv
.i
"
-T1

Itb'
'e

@:
Kv ) tut'
K>4o o
l o1> loo
Q
 :=7:=:T.{-ffE7I1;i{i::iAE:i**W
3t
s 0nirl+ ,-
@
. '15% -) 3I = at,
o -
qB%
)41 .4t,
11>o/.) sl=56
e
a
o
€
o
brl-1'
€
la Novr T*lrvrrlrv, 11 cnrradti^1 -> tv\hrz \da*P' d

f* t
lX \ -*!,
-
e l+5r \r$ L\tsr)'

e T*l}t"ach'wly -> otrrrda*!rd'

B tovrrty,loroal ,-

s
\ii) h\i-l'"l
il^oll'
6' 9ri)- lu I q

cR s'r -
s[q+turil+tt HtI.
lr
- ,
[.i 'o
lq!14)
tE l"lv1, 4', zk1tJn .4+tta I :)(qr = I
IYv
tiio =
zl-lq-4 =c.is kv= lu4 = 4
? 4 +tu\o'rsJ
rs % -- oll,, = e
Eo [r-'" .'. fEr: 0'rs
:
Ai4p = €st o'4

"al=l'g
S 9,r, - lb . ttq=
.^n=.'4
7\vu: 4
-*o *{4e+lb
. \: r:e

(o'Yir4 h"L
DrcL du-l qqr to h; MP% chqryr'r
\o'*'
O , 5o a u.*'t br Vo'rit4
a (t'i ) cr'I krlr
tr*
s{s tlrkal
a
ry 4+ktc't\\:o'z! bh4
J o"=!' " so;**r*, ofunlwl %-- +"^
Ssli<vK '
a "K, ,
Kv= 4*t4\0'\5) .'. k=4t
o 9,,t. '1o -\
urr,= I4 ' &!u"'
S *+ s [4+4t(hiq]+qo I Q= 0'B

@
t.

(h,, I
Q [{ rr) ,, K (
;ir, -,1
(
-q- - -l:-
ZIG b( -!- (
I
K
I -- Ik'
\t
i---
1-
,l Kr
!r= $ :' lE\' =' 3 h*"
I' -\: [q.)
(
6

4 --)
- l4pr= a
.0. t1 1= Y
4
Mp.,=065tty.= '\a
(
Rrrr ' €'
%ts) -
__> lr) G

g
Lit 4lst =
€
t
hJ; ;, t= fl ; b: eQun:l'z
0
t,(sl = S5 + tt^, -t a1 * + f q+t.q)s * 44 = o -) l7) €
----..:. tr) =l tz) I
&= [.2 + o €
. qI l'u Q
4+t< €
2k+\: QA q
fk ---1--_l €
l.r, u.l
€
A: t.B
€
{r {^q(utkilvrl;. .-n 6{ ri S1lka.'r td 4(tl . sIs'oe;n,r]+1,( =o
6
hU n ' S l( lurtr lhrf
rtnt tf" dnailnrvhh- =a h^, ton-nplry wl! t,i,,h f/rJ'p*l = .1 , P
€
Ns:- ED;n
€
6
e t
g
'6 \r/

s v
(t
c
L
.-.--.^.^---.--:------^r---+1:4f-44:4i9ai-&,:qs:1^.,&qffi
. -
a "aaa::.r:.- r:L-k.' -.sii@

\<>

o @,- G"1 }lrir - [Kp + kd s) X

o s[rrQ
c trt ,\ ^ =) €rr
lt ,Lky r)- k_Ip
o ku = ki'k
o * (trxKll
\ii) (iii) Qlt) = .S1T s +K kp= o
o
o r? lt) c'I (rr xxi.\jT<o }tlr
3
I I Nn: \ltir,
\r
;i tl *n = ll \tK4

\- ,_,1
=
?
o
{
,h
.J. (
n D'?5 s
t b!,,, !,1-5 <- Mp ,-2-

{i
a ht) {t >h. &
o-b'L .ry (dr
o torf ' ! a

o tru) )'i?, D:] =)4= -

ts= L < o.?s Q*^, *
't td" ls= J- : 0'?5 =)l^ln:
e \-

H1 I
sda
a s-olanr
1oo"
G -+\ h,Hrr, , irri
s(9+
.

r9ul")
e
a
-21
I __-**----
>s)'l!
G
c
o A
I {9
tt t,

t
f*

\*
O 4 H,t., =
trt Ft)
p H}') ( s+2?)f: r,,i(rtt
It*urt{unet
D
\- B
D.
B
-
I

v j5trb i[ity Ana4sis Itn .tfrne dornajn) .

*,_ _=--.=-________)_
Cconsid.r lfnec,x, --!-.6
Ir"rne
0 o
inrarinnt
L ! i ,
& Cctu,lql sqrttrn)
jtobrtiH - 4 sytrrvr n s afd jo br slrrblr , f ,rn crJ-t ,h on8q, in *h,
t/P or potcrmettr *ht sgstom dou not rzuull ,"nto torqt rafahax,
"{
fn th, output.
':

Hi^:l
Bo
4 ( jA:rl <or 4
O
<lasl i; thtn
th, sqrtem ,lr stoble
-+ Thrr,fo.re A
nly
sqitr'in & sa."ct to br sfutte f it. lroc{l ter Bo t'nd-sc0
f-or cL Bocrnc|.lo( ilr knot:n o-r BlBo staUitirx

fi o ,o f\r
":q
n.,-o
1, 41 l1iynr r rxr ovnil.i'nrru i .tn iu fir,r, trs

t
-+ co lrm ilf +
o
o1v cl-nr gfnn cl.r Uft) = T[xtt)] th,n o\ BrsD qoqcln.
,/3 opptforlr.
But BrBo -rj not Qpplfcctblr
to fron{tr .fn. ok.
+ U Ct) T [r.ttt
+ 5C-r) x tt) * .stoat (
xr Ct) -, steulc
sio
Ixtt )) - Jtour.
e*to)-* staute C.., e^-,. & *{ *}.,hs leuthon * fs Bount{rdJ
t rtLl -* Unstqote
 I But I-f m ,: giren, rF = ;1; * Hen ..*co",,"t ollLq BrBo
::

s+l (oruln.
-+tde alt'otronrt urr BrBo
{otrF bco<+h;f, Manyi;"q$aur, !:

sgrkrn'r afuo buj BrBo donlt +Lq-[ !

stobla sXstrmr q oboul Ba4ir,*\

an! +hfng -l I

*+ Lrle ca4 rut

i.'

BrBo ftr TF _> a = J_ i

x S+-l - (,'

s)(y=X _) \r,,-1 i

d ggu gtt) _ x rtJ no." gr A"

-dl-.rui
4-\ (-\\
cdf enn r^, e^A^,oreclr
^^^ b' .
r^ ---*
tet$
| flJ '

' r, a sqshm -& Bounoleo[ '

'th.n tt dou not rn(CIn thnrr ft liarn Ju
q

Bttt tT cr srgnol fr th,n ft hau. hbt

Abcotl-ttea.q {nteXrcrurr roun&oQ. ) i

+. /l sttrstern" .& so-fcl 'to be-{4obrt' S +-,. ]rn?ursr kupor,,, o$ tfu , ,

y'gsttrn n 4bco*1"\ flnltgyabp (4pprfcabt,ortx&rtrrsgrtrrNr). { i

T-ft : L{[rr] L Jtrnl' d.t 1rc -+ron,i'^{*.tdb?dfuJ ,

+ {rt rr tl

= (sJoJ \ 'J gonoulur.lt! . fi\eoru tlr

polu o..r point
t:-"0" t
;

o;? d'T{'^';trorron *,1* u, l"n.t ar

ra,,l ;, i

Gt-'G- (

q P.> x I st'rot^1
.s{rf.rlr, 0*-^^. *r.e^ ,} qt, i'

l'o,,e* ratfo ?
- .z i: ptopu rcrtfo
tI *.< tnrtrct
,rr, Laptoou
Lapta,u -{rnnr-rrr*
tonr"lo'r,t n '&ierptfcrJ
ayfliranat, L

'

'P<< -,)
I lrnpr6,p.r.0.crJfo i

rR = f yrrl
lR = t't-oLn k' j t) rttt) ---i b4c >o (frte., ln Lu76\uD
d @A be + o"{ -re [zer-o (crn be i

;-,. ana"fu.9
 , +q Cornplr:c, conJrtlqts polu o11"Ttutn,t

sta
(, (s+a{s.ro;((s+a)rt
{
n"
)
' = L,_* I{r- } K1
r _ a ___:_

: Cs+bJ (s+c ) €r dJ r+ e,

,
rR : (Irit [* Ir, d, t t k. .-*. s trr et ) ,GJ
€i - o'o b>or -Qlo &cl>o ,{bu cbrorrrtr lntqrobtc
t.
i --> fon the TR ,to be 4bsorurtrrl &teqrablt thtrtbg tht syrrsnn to be
{ slcruk , Bil *hc potu C }H, s,qrttrn rntut ofB ,.. i.+* horl c,i

!,, rli{t;, but not ntrcrra,tfir1 <u6r l-hr rgc+ern,

it-
"+
X 4t*.u* [oop Troncftr +r] r ueel "{. {rnol ,tuutdq,.Bto^ &f
^croreor
€i 0LTf 13 unstoblt tt Aoer'not )^neon that'c.ro .& a.!-tr grutobk.
s) .-
t'\
E-'
Ef = Gr Hf .t.S+r_ . rl
{-' (s
i Unstablt
Gt,.r -r)
{, (
(., , '.'
(, t-f*(s+r)
(,: : 'r**-4 ,. i r$o.bl.
sis+' 1
c e
'r,): --{t jJ:l i
S2/2-
& €I" aqoin consfdu rorntofl] t^:tth Xarn o,x.
C] A,
Gfifs) - o,ls C
s
#+ ; dnrlobr'
€; C
&'l
6 ;(s) : %
o'zs(s+z)
C ^.-
slt t o.2s s ro .S
C
S . O,rSCs+z) .

sto'25s-o'5
e S,
-'rt
6] : @, -!l i
'extauf,
gFl- 6htsl=_J D

..r)
9i.',,..:-...#.'iJtqur.S,oh3=-x,.91.{i
::
ffi::;:::E :..:j;;-:1:;:i;:.:::,:-.:r-::::,:::::.:-J:,... : :
i
: 6F. Aqoln .l consfdu sqrne oLTF
, u.rithOo.fn
wrut fL^lrt
jo.
__ _

I
, crrctl j!-^ i .stabtt
= (s+t)3 i

c
,
'
f;ts)= lo=
i(
; i
G+13+lo

*vr re6{ f
cr-r t
(1-
. SF - (Hts) - 3e-)s -, r '
4
(.,,
i -_-
s (sr
;s|o,bltt
;-slobt
j+,n ')
T'$ = ( ) ; urrstabt, (.t,-., 't L\ L-
rv u-'c(rl-41)
\LL\" t0 J)
t4_ f

=) Ihcu to -Jinct sgslern to bc stobtr C[ort6 roop {rcrnr.fu. R,nrhoon ..

'o" folu "{ c LrF

a^t )roole d choro,ttr?stft gn,,rtq
,u
:> fo^r o sgtlfm tb b. $obt. aft tA. Ctortal laul
!o{u ,l.,f,A o l
noth,hg but r4cts rhararf.fptir ynot..lia;< ; ,.r Hc-t i"+t
{, , ?.cLrLi ,

t"rirpert&e -{ o7,a l.op po{t- i

l.
.
+ Y'J @[ th.
|r

-? )r-i
-l
troots d els) on houinq '-1
",',
rcorr po^t * s$ebre

*) r{ @drh,root{ orcJ -d h"";;d"ffit; ,;,,;;;:i

ry "{ rh,root -t q}c) -& {,.art{t:ffi flargmoe.
oohit, *he xmo.fniru mots +.autrq' lecrt t.fi
{"
-yQ 'rrffTilry ,

'

tJtJ s * Plon,
!

Un,rteblr l

froud /tal1,

fr)tuFt,ra-r..:_-.:- :..-...
l-!*.-]:id${!-1.;-i*'---.-.--,,--.
 . t
Uf\(yt a sysLrrn ciionqr tts stciii ,{rorn stobt, ttl Ut-utuL;lit ('Y \.o.,
lt1! :-Y( b\Li
' 1.,

thtrr tt hc.ue *o IlcrrqtnaLtX .(t0bl, jo"r a |orh't ulo,,- #.rnt.

*)- fi sqctrrn .Qorg not r..no.h
fn t1or. $c,bt, stttt unltr-t u"t f,rrr, it
do tt.
-> 4 st4strrrl fn Hcu, s{ablt rtet( f,e.u, t0 ec,l",( &to st€btt 0.r

tJnsto ble &p,n&\ cln .r0rnr fatcrrnttul

. ,

Sgsttm

Not -Stotl.

l'1n * -4'l^
IL{!T J L{.' Unrto bl t

"=h t*r CCn A l3o ilre tfme anoJ.Xrts Crn) to Nn d stob?tiQ .'
..a :f{ rR is 4bsoluh\
hteqrabtr --\ StqUt.
-? TB _+ o cL, I- _, ao Y_.

l-
rR NoT,A*.I + '.
"j -14
Not_stnbtr
.-> rB
- * ctx t o* oo, Unc$Ablr

*a aR -+ onctont &, t_)o6

,"'.
-> lh'l c
l--E rq j. ttf fi f.rpuJr, ryor. $a b(t )
,^rAitt -->
.r3 nq Bo un drcl ., ,riJo,,
Y-'I ?P rt 4(f 4 J,trf .keryoi, ls
tft.n f+s Nobtt . s
-> t

Atso ,Y L0 ( *, rttfplt
folu on rrnatfnilt onf,
h H
ftfun
.
tjoriout,
:> % ltnow llc .l.. rtaaturq -+ utr on
8co< ,rhp herforu c
\ Trn Fug,, (upane , -
*,lt +dt{ u) olt' 4elt, or Ua+q61, ,
 FJlect of tocotfon 4 .toot-s, o-f_
l-_
+c,l 0n rR -_

+detatf.rn
0 I
o

.1.
I

o
I f::

o
-+- ti
I

l1or. stb

6)
I ot.stb
@

K=z

@ trx IR cr{ sirnylr unitb-

1x utt) : xtfl
t'r@ a.

, rn.-.oot utt, :

1-'l r1.
l._i

@
@
c
o unttb,

t--
@ trx Ld*H, @ tor.
st!. '-
l
 a,a_-a:ilii :::::T:r:1*gilij*@;i llffs2lgdi.E$?lr.&erErtnt
Uv
-.-
/a
-z 'Tt A.o ^ qr
(r(nac, aD?a'h,
i /.i\ -p\5,,
t,
/'h'l
J

@ \/ i
iru

(:.
@
f_*
"'

@
(

I (-Uneor eornL' 40,A

@ Unrtb . t @)

{'.
(
/.- C',-*id.u"n e, fu {dnot Tg ,>
O Roc,ts &Jrr i((sri_
f",
Expoqra lfal
o
t, -rrn a! fn at
X -.+ s fn ueo fdar
{" O Cornplr,"
f^r CR, +,if,n) :-+ €xyon tntioJ X ('rn e

{'} o yut{iptt ck)

k-r

t_l + f{ Jh, folu Ctrc f'f utt?ptt at cn.t loccrtr%rr 0r) Irn. ortiq (fnru, afnl
t'. q

l:.,.
\-'
"rf$,u th.a th,
t' oJ staur$U-
s Jtp*'
Fr
R# @ Btgo --+ Necessary con oln'
6l c 4sgrnpfutfc (oa; re,o ol
LIP stoutr
1

LI sefl r(nn I
FI
t,
,6h
o ,{bsot-ute (orl 4t6arp st0 ble 'J
condn,

w
6\
8.'
o Condrt iona-4q stqble )
L

a
w I ttrnitls (alc l1ar, (obl,
@ @ Brtatiy, 4obilitq ,)

&J
9 -A,rTrnpl0+i(
S < +-' dqbiU"h' '{ - '--""'i'"
ircrorcq-rhc &X, 4ab it? t1 tfi .ll * sW* +o e-

@ n4url hnd fu ulor& <eto h fh, obcen r< "+ Uf "

X 4beotuty'conolitiona-qg
stob/g - Tn^& a.{-r-fth rc.( {r.} r, faq

@ fla.,or1p.n- "J *ht sgchr. ff fi. *r-t &h(

 {ail-ru, t'f fh, fGrarritiei f}it,i tt it Ccr{.:ot ctbrokt'i.^g r1ooie
\
ofhtred irr one(ilfon cttt11 ,rt n blt '

|a, tfi.
(

bo.)rdc,r-q
\
.or6[,t1ior,

(}"1ot.stabr,J ( i'ro, ' slo at9

f ovrrdorvli.dJ

fel'rtr'r ctcbi''rl+1 orq5r'f*{EbrLlq@ - rn& t.rr(*{

Stt UtUtX t, fu chtcrrntn, -lh. ;t"t."t{ fiob1. r,{utrrn om,nq wpuail-
ftabtt
ouLrut( rsqrtrrle
{YLtIIls, , 1\ \::;

'', ,taliUq: ko.k,,n?",.c[ .,]?tr th,

RttoJ,'re l^u1 4 ,rttu.ry
t

T: t(qP1nr ang.l4sf' d u:tffi *l1. Auf \,.n1CW

{

':. Iyr' fl Ao,fn rnc.rf&n , thoat I

fllatoia in S, T n*pir. on a[qsfs,

&- -_ -10 dttrvrnine

'J
{

"*fi; clorec.{- toc,g sgrtrm .s'hbiLtfq c.rtthoud-

\l
obtroining *h. r-ooLr q .f,ar. ef n.
(.
-{
U9 = oosrtersb'l+.arsh'\ * --i*----*-^+en=o l-.:

fuu Q,r er + ere ealfcUg ^rrcr-[ ii

i

.Roath Arr* -
*+ 3P
(,' _l ,

---* slr-l
3
I

sD'r
b2_
sn13 Or
C1
'#t-n
\ br, QrQr{..oo0r
* Q1
I

I
Cr :- braa .= Q' b, tv

! R.[u.n,, I
b,
0so t
I
 l-
Yb'
\J
; fleceirayX L sufficf,nt that c!.L{- th, e{-trntnts q 1* cotumn ''i
i Roc.th orra4 rr.rt-rst Lou, scm( siqn. ffn, roto "4 notlth errcL5
i
{ *+ r{ +h,',
,a A L, siqn
.er( ^ .hongu
-pn ,,^",*hr sqrtmn
-l^ ^- ^ ^. theq +0, i
'L Lr n cto b1t { }h. no,

t z\ -
fton t.
(-
- -> Polu con ifr orr )rncrgin onl oraj ,"t{ S" Pr ., of i.outfi oot
ri (
h*usfu fnto ..-Q*Q-.;l rilmunt, nr,ri*rron.idmot6ittrue;
g 9/tl = s! + 0 s3 + lB s,+ l6s rfSl-= o
{' ,A

- ;.
},e.4lco-ef|t,ttnlsc[^.fno,.I,.l,iItl,.*,o..
condn.scrffr/r,.ol
{ NOTE
,.\-_-?
t ,

- T{^oj't *hr co','fficr"rnts

o ,f..or,egn CIr-r Ro^n-<rt, 4 +ve fh,q
' ; 0r "f
{ tt connf b, $uor ont td tfi,j sXrttrn ,i, stoble
( 6u1 ' $ on{ co- et'fccf,nts o} a lfror, eqffj"i <(10.65 *h,rr ortrl,
-yr
- |,. $tlaranttd tlrot s.gstcrn n Nor- stcrbt.{mox bp }1or" st} Qrl unrfa6trJ.
{: 6't I r rB s
-{; 33 I g 16 ,, x ,ri stobte
- ft| 52-
tc /'sr'
gl I ^'"116/'/ L-
L
_C - trt llt
|I, -'' l1s / *r* = +
fr'l
Jr'l := o -r (Noxoro ror^grrk
-:C
C
so I .o
Jo I u/7 rctrnfl&\zrto)
R =*s_=c*.run^,ffiJ,lX
R;.^..- r
-gR *1*c& Poltt 8n tqt het.{d t-gl0ry,
--.,9
g: ?&11=
kL!) = s-t
s3+.**qq+[il
s3+.*+3s+S]
S-f 3s +JqJ =o
. \.-
r 1tv .3 , * oP(4
op(n [ooP eafn
loop Go.t
) t I 3
- (i sr- L,_ ; Ct syrtern -i. r-'n(obt,

.{' so I u'1Dnd (Acngt Jm=o

-i I & = r- cd sfs, rl,,mgr,
 N
vt
%At - "SftSr't*lg "+ trs +[l'=o Frn"d ya!"utr -$, X :for .ltre c L sql[rrn
tn be ttable. (oP,q
a,

toop Cc,fnJ*> co-*tfrr,n1 .{ .o

Crr
.tCt)
= -1[ + f -*=o
stSrsrhtls\
ztls \-_
'\stt*
__)Gu(s)
K
B"r ff 1,g) - q,+scf,+r) + 2(k+r)r=o
91.5x)frrts -_, (j
-., rjts) = 4 + . k(s+")
+:.i-r2-
t^trfFt a-t-t toe1{.'-1 K
[n Nr, '
& R trt i. Atn ornino$ot'
=> l+ crHt s)

_Lt K
+)
=$ +vc
fiedbooh (K _,1 *"g
s\*5s3t sf+qs
a+ C<)
()
4rr -frtotbock (kflr -Yr)

l<>o & K<y

,5
j"
Io<r<-6[Eil 4,0
E *n Ftforncll^r stobte ({* -* }rtd bor h-1
(l

CBroe L{ h ir .-Yf *z unrkbli'

+ry K ='o (or.t ( :
; nor, stablc e'1
Gtt cloryt o(!!:rl

>5
il K<o for.) R7 T " Unsto ble .

25
-\ ri ..+l "-+ K fs, ?r,) ?i -f so fh.n C L silftem => no <u$s
I+ R ,3 *.*+ -{ o$u *hon ro rkr ortt) -> xor.os do <'<fft -
 -l - - - -:
-"1=.>:-::.'==:=xgff
\,tC ,
' /-'-
fn clbore eu utro" ifnd concl"' { u*,6116}ioa' '0x t'.g'4 ottittofio'r
-*,.i r: ndo mp.cl sgshrn .

; sll+ ls3t br-+ 4e th = o =) Gn,r_t ( s +b) Cco+ cs+c{) = p

r---1r=-2

I ^- ,*tzQLo4s4d =o
'J U' t,nd.orrl gtd
'Ihi t^ritl lirrrT 5,
egn, be
sL+d-o st l. s] ,o., -t to cr ffi qff &r{
j" coeffl .f d = ,
C

(*, -uo)f,,1, = o

[* b@:, cono[r* dor,,'(-,.o.ticn ,

i= .for f"eg.{ occtttoLH"$n
*ahe &roco +&tfsr-+ k=o
At/5.-u+ 0Y/25
.:o
e-- JJ b_*'4,,rfttnhan -

".Fen.ra+:,
:i :Tli, Concl.iHon for osu.t(oto\y Qrl r$nsyte"n
.uno{onnltot bn0.ariour.
con b, o btorhud *r, s{ -f Rourh or".t + f"+- 4
Osci((alrhny
"o-,
(.rn) can be o 6tcrh.ol frrm tL totxi .
g
:
v
Tht .gchrn & *o be u_red or on ocrtLtotot .dflrnr th. conotn. I
{*,q' q ocril(o*fo.n, , Lt1 = str 2r3+ Bs"+ ,r*i - o

s'1 I 3x
l-) 2_ L
J?- 2 K

4.Llt =o
€9 'brlc{n'
"f Os citlo#crn ,

t &st+ h= o

"ts'fS = o SL=-f
E-ar-,--t
bh =l {t'f'r.flrq
t.
:q
i

flfnd' k,':a '' surfl #1 0t *t,i. rrxf*rn

ost?ttqtel at Lrad/e.u .

l$
?(s) = s1+ ari zsttr Ks tk
r fu+r@A.)
=, s3+ cts-rQ+kJ s+ q+fJ
=u
s3 L (,.,
G+<l
sL a- 0+t )' *( c*t(t*r ) -- s
lt a (>+k) - Ct+t<)._A
It(
a -r, -\
-)
so P+x_r
0+x )
{

'2+ ).-
=@&
\glutrg
g ofen [ropt".fn. -f * st4rttm ,,1
-ts- . 4nia
s+2
*ht ctored r oo p po te +o ,Ife *o' fh. .(.&4
_4$ Corur"ctt^ S_ plane
I
\rL'c gls) = s+r+k z-s c) u'i'gt'-l to,o)
I
1." \=.-9 S
t-1 +{^,t1. ,Ll$ "fr useo}
=o'
I d{ h:n: ol lq +"
1 l@s'o l

I . (o[fn o,4
o{

:5ra) Co,o )
Br* t^r< nted lD
ffn.t ,t.tt "d sc -{
tr t ori#n (-e,r)
v
,o, d T'($ --1,
l1n
,,dk fit,trylfcr{a_,
, fi1,l R =!
:
 q1 _
I
S= -5 ;7 s+S -- 4.
'o' s: f;-5
iJa)= i-S+>rk=o
?(a) = ir *3 o o"iqin (-s,o)
= -, [<

3' Ir
I

3o lx-s
I :. k.3>o =) l'x;sl jlr
=) fot sqrtsrn Lc, be stuble ela po\tx chould
-{-ter.lo l.pt *{ (=5 *d,
--> ni i o.n-
a ]uer{foa -+ R.lcrliy, stabidt "+ a sryttrn. ]}urr fu ute
f.
h.l*'l h

(hu, Rel' E?-ar. i ,") ont ,.ytm dt)

E {.(s) = s5+ tssq+ gE s1+
2>ss, t 2'lt{S + l2O =-Q . fl,t,d no o-{ rootr
cfioY, eq) thof "{
a^{ localed Jo th r to.ft S*l=o -c-fne in s- plonr.
lN "f
,S*
l _/
I *\
;iioi
rrr--
lv
-

+ S=S_I '"

/a)= (8-rJtr,r({r)Yu *rtro=o

TQ) €5+-,ofq+ 3sq3r so^12+ 2gd = o

^r 4
{ Lj:;lotr11"+sop+.rtrl =e --+ (t, a)
\- Routh arr61y &=o et c'nq &r (- t, o)
c
<Y L 35 aLt dLO
Lr r= t1
45 Io 50 t.'
z1_
3a 2q
t'
zl 126 o
I

.": .--=-
<o 3o 6-
)-(l
t

F-;[1 L-k4 s+t firy.

 '...:..-a::-a:.--]rL_i.4!-.a::a?f-..

x'ffi.o** 2'* -lrdi 'o

* A^)t

*
qr.t,
"L-+ = l+ CCe)Hts)-fvr.f U;
!.ts) = l- &trl HCr? = o (+r. {6f
origln (or o) b-dqtn to, t)
"Bul
(lts) H Cs)
= C-1, o1 (HCs)
= Cr,o1
JIur orfgin oPtn frcruft tn -&Cr,oJ,
"l Qoop
*.x l+ 6t9 nts) !- o) ?
^ 6,,
.L G(sl n(s) = (-r,r) J $t* " (tortel toof stcroitiru )
{ t-rr.rtgnrel=(-+,o)) "
a.tt.)vtro --
glvu ofen l-oop'li ^ ^: t\ilu,,,',
slabtti\
ol
C;,'r"r' J .)

s.aPim ttQrlq
-

0 l-ots)Hcc)
- &,r)I (torrotroof tt€rb?tfq
L_J," t \
rchts).= Q,o)
.) t $0, 1re ftrolbcull. ,

& l- c.tel hcr) = (t, o1 r tooP vte'r?dl'u I

+ . G(ei ;i(ii. =(e,,.1 J :fr" J

trrru rloul $0. fnvfou.r

ftobltnr
* ('

9lq = S5+lss\t'Sgs5* >tsr'+Dtr{s+lzo =o -'

Ffnd oprn {oop I.F e e
- ar
I

6rts) ry (s) :- )ta _ ,-- o"r\tn t{, o) .

TI'1il fc not ([o^' fottin'

':
t:
'

= lr-o
SfS9+ lssj+ 85sn+ rrs s,r>ttr / )
t--
{tt Ptq = *tt tEs3+ orr\2)ssrzr y

sJ | 0s )ly
s3 15 )>5
s1_
fir po lt of ariq8n 6-t, o1
it-(.
!.@ po lu fqfi *iq., CJ,o1
5) 1rL
\{, *.1
+rt

::-l-;- - :.-.:-.---:-,r--r---...-=--i= -
*a:.-.';,"..a-a--.5|-r:-.;. -:t!44'.-l-.:.ii.?..!LJ>;:-:iajl:.:;:-::, :
 :'a.,::1-i.!{iM-W
q8
-4C t
;.
() ^ lr !
corsrntrlt,on sfotiifil
9.i$ = sr+ S1+ 2s'+, $s *^15, = o Y

l* .t-r )
L 238
st t S rs
s' ct

o -12
0nttabt'
J F
I
sl
s0

No;r "
".s
S, Rout6 4*0{ in an{ Ror,-t
Jrl tn rohtth thu, i otltart !
I'lnrr".*n,- tltnrtnt
, ,T Ln{ tltmtn[ i <uo @, -Y( *htn st'fl
ch"ngu Gtu Quorantrd bt tout th at voqr, fltnte the egotem ;1
unstnirlt"

f,toto tb Corn fltte Ro-uth Orrat tqkr O to be cr .y-(r! rrnalJ r.atrrelo',

. <) - I
U l2 5

-\f
^q Ir l5
Lf"n
^u
c3 G *lL
Lrro
n
J 2Ct+lL rc
IJ
LL ql
^t
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t=9(-r>;'rsa - L\a-ltltt, hl
I

so J o*lt-- I

,5 I

'i. i

'l
Notn ^d
Pt't ,Ltrn I
-t
CI+o I

I
i
t'
I I

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t
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J1

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I

fst sign ,[otg o

ao siqn ,hongu
i

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1""(/ I rfgn .hory. |,J:.

r -?
i:

JO Its I--)
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Trn= o-

=J_n jlrlo!!,_
5
:]i-.:-=+:a;:-':t;Z+:1'3'.riii
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._ -1 "f !orn( prcb1tm
L
I Yt I i':P{1, fiosttq bLrt noL 4 tuu cqr i
(

,55 l5 2 4,
L,Jyit( co"|-f,ncftn*e
SY
*ora part flouxr h
3 2 t {.fqh ((tn,nc. ra$
"t .
I

s3 -8 -+ L=3 ,
eL )/v I rrn =o (...,;

d siqn .l.onqu -, R=z

st I2
5
slu I

+( *l( -> TTL[{ ptoceotrtrr dc,er not ,uo",4t, f+ co,|ffcit4ts a^r e4uor
Qtl f obhdrornr.

_a 9tt) s3- Bs*2 = e

& c5 I"n,tho
I -5
-+
ol

L5- .0 '& ?*'o

y' Jtl s{3rr .[oni.
2--

sl 5r. =-3 o1
-,,o ^\
3o sl 7lg / Dttfi tLoo6
S0

,L *, m, thod
*[ (=z
L- |

gr I. -3 &n -o
{-fnn g'l- aat o
3
).
C(+ O
.\[
nl
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q IUn stou 1.J
,.... i
i:: I i
Jo
2,

R=z [r rfgn cAon1.,)

L =a
ffn
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r--

ii,-.=:.- ::: :1 -_----j'--1. -

 : :. :: :::. -: a
:. 1.
=:=l"g
lro
Yl I

$c() : sG +' 2 g5 1 g r\ r l>$'+ )oso-1 l6s+ le =

7; i '. pr-t9.f lt{{ f U
S0 rnt hoctte.
4Cs) = s(+ s5 _r asl.r 3s5+ 2su+-tts- g -- o

?cs) = 2s5+ sh+ 4s3+ 2st+ 2s1l = 6r

9ls) = St t s5 + Bs9n ar3 + 3t'+2s+l =
Q.csJ : ts-')t C s+ r) Csr>) =o

se ,_ B )o l( GI se L -57 -B
s5 2
g5
L 3 -l-l
l1 t6
lu"-?ttrr"r.; _B A trj
n\
-)
pulHr. ' g3
lo o
,-
i;
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I B
st
Jo-
'a sl
so
b

@ 35 I' 4 L&) st r3 O

, s' L3 L
3_
f Cs) la
S) L(rn s'1
O.-"o
q1- L
g3
sL (la"Y . 2o*t
1_ LL
I s a,
!'
I

s0
s. Qal- a+t
so
"2o+ I
-trQ3 *7ot+ rr
Un\ Rou o{ octot por^rt o-{ s ire)+ & -'!

r,:iil be <e^_a Cnt**1p1

Btox a ro to corn? l.t.tJ rur) .1.), p,rt t h
q.ro
[n"d-."cole,
]otu 0nL sg rnm.trfc
m
t6c

.-{ onqrn,

A(s)
 t;.
Gla'J (s'1 b") = o
,
^'d
5"'o S'-) O

a (
Aa
6 poltr sqmrn"t"f.
h dqin + ss, s,,,f _, o
-t

0 " ,, . , tt j+ S*l,Ca,r*
I

*in
-If Li y^,
rol")^ .9
5scntiiliqri < it€. ta d-'lcJu - Onlr, r'r."
I r q rlu
- .\ t-l r r l --.[--o.
r0r (;; rL.
U

& loccr$fcrn th*. pottr -r3 Btr,n tl roul abore

cofi?trk re.r-o-ts0t<?.
"t
:+ T.f rnrlttli fl c Ror,rr aM xa-Lo cc,rrtpldrr5
, lhtn tt Fndfc6lttr f-t4u
cru at_* rfn,q h .n qh b ut +h .! ..* rn ur.+i/t(
.

e nb.j,
4 ts1 =2s [+ l2cl+ t{ s,lrnrn tfnt i-

tolt,
#. dsl+2,{sf
.'.
t'I'
ir

o
t;
DO
r(
RoCI, -? Jyrtenr Con
c,rhich
c.3E gL 6 r( s*q&tt (_rt UnSoble
<rr0 Mq sisr
S, s/-l
fff,nga -+ b tnx tylwLlif1v-
to It Wut a'q hot
No P1.r o,
@ n,.h ,{ xLLD
s^ /[Rnr )-
.,o._
:::-,,-- ,----.a,.,-,
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'(b
-)

4yuloer d-ltr-.!
[,)_ f!lfj: ".Yi [('-
crl U
-t'"-

'_-|-,4
B
d Ak) ',
0s'{rrs
a

de
s1_ J -8
( t

loo/3
5o
-B L sfqrr cl.on*t J" lfo1.
4,(s )= (!+ l& t
,"n @ s,d.
c,(nca
2, 4 polu cr-rr syrnrn,
._
-A& 4s3+ Q,1 -lo Qo , o1
Sqrnrn.
' " Pol..
i
s3
.,f + Polu sgrnrnti;il li, oriqIn
h
M rct lipIr Nolu
rl Ilrn s2
j ;.tr rCtl = Ja+ I
xot
.\)c
n = trEl
CftrCs)
.
ctS
._ oc
,) - + fufrt@
-) L:t 9 ^
4tr1 = sa+l rsrnrn.folu
d AC$ 9(
IT;rj@
ets Iunstqut, t

L:z
Im:z
R:> io Bco<

*,^
"f
d.our"
s_,,gr\

J n,, sixn rloryr + *1u po(t @ s.'cfu -5 cbove

* 2 Pol.n s gmrn , *o oris t. si t'ot.l .
Etmrn,
+ Nloto {o -lau fositfon BolU,
"f folu f rVm'rlqlric fotu)
/''n"t u-oots
C 4t**t,or{ (Vn. 4 Cs) .

& =II',r) ?emalonr"n Q

r.l rootg con be C-rna u4 a pot-trrromfdl
|
|-(,) = ats)
fr61 .

8ut i"{ P(sl n pf?r. wcly & wok

'+ r,r{ cqnit be Jr%c{__>
ltun form Ro t th a rrcrt -+ $h , p (01 .

4"-rO
.4. ---) - ats) G -,ltCs+r) (str)

k\' -Ls) (sh.gs +r) sh+3rbnrrt+ snr3srI - rf-6,s",ks

ttif ,3-3s1-s tL
.'.,-:. ... . -
 stl .L -3 ..i...)

s3 l-j_
L
fi?.t) = -2s tt- l$rn &ngr
c{ RCsl
z ..Lts ) st -rl L
dr

I 3D

-r sfSl .f,oqe Rfst t rf{t :-tr

! Polu Sgrnm.
(t.:

i.:

L=L
Ttn =-o
(=-
'n. Pol,
_@
Foiltbook cA-+

dr 6
,_ U
!

s3 I'*
ti
s-
' I lb r
sr I^--,
*-t L
n -. /h
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ldrt6-qo
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gl Ltg) : st* slr 2_Ftlsot gs* t;

o'1
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&6r\t-
i.J

dcnt :_-
#
I

:t

rt-(,
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v

g ql-s) sq1 2sea )sz+ zr t

:t

l+
= |1 =P
v

.v
:

i
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s(

! I 53 I n z
t-.^
t, s- 2- lf
\- i f{d r
cl
I 4-?r'
\- { :, 11>o
so
lt at15 >o

\- €., )k4q
{'' tK
i

Tb rffncl '"l
i

' n ,ongq_iifon
"f or([(t"tf.* st rc,-c =. o
v

!-c
s3 Ir 2

:B " sls'-l- G+*s

\_.S Io-fr{+k.)
.t& r.. It{rK
l---+- :. 4tK7.
]e IK-t_y

u
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I

.&1 '

L^
$-[ o 1,/-!) = StAs t 2e+t r Kfs+r1 =Q
Lr
S (a+r)1 sC> + K) r Q+ R_) -Q

s1_
Gu,J ft<+r )

sr Lk tn-.1

f.'.,
so
oo & R+z>o

o
oo
=n9
q
T.0' Jt ,ol con.in. "4 ,Htffi*' or roLrl = o
!
K+ t- =o \i
i

.l- I .. r
l'K;:rl t

t for "j."{
o
or.rltac*huc.n sLyoi^r
"t =-rr

'
: '- f La+r; 1 e-r1 ='o ' I

socatr) + [+1 ro I

s=tf t-
\JCt -t I
= +z (

l:
j---
l, .)
. l<J
uct+, -l

I -'. -

'A
q+t
4q+ k ...( -.
=e
. ct: -3/rr = -0,')J'
,,:.-,
li r,

&e qfs) = lt, It(s*i) (s-i1

- - O
!
:

Gtr,l'
9ts1
+ tt (t+ K) -- c-)
l

at^
S

sl 4 C r-r<)
@ -v"|tobadt .

{or- +nr frtotuaok I

:v
;o :
ftr+K)
i
i:+:a-a-a::a::-::.r;inidi;z:;i-;:..-:-:
:

i
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:::':'-::'Z):!:1.^7+-!7Y€:8:'*''#t

5z
.
f::.,1

a,
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e. 4Ct-xl Yr o
+. :, rR < 1l trKail @
-t H k<o *) tvr feclbctt[
.1-
! In(n
J.A
l+R > o
I

l-....
t:-.,

(-'
L 4Cr*) > o-
i=-
I E -L
n$ittttd O.
o h<o

t. & 4 (r+r) ?o
C:.
t.
! 6-r
E;'
oO o7 R>-t sgcttrn -& (ablr
(;
Grl
f,: a<*K < L
# :-:

Cr .O]ron.,,en{for,Gl
{r +('x + Tokr on{ ?lp , Gr{" olp - q.Crl r,rilt trr untq,trt.
i
{,
(-.
oo
c

j(s) =
.

t ?(,t H(e)
'o

)
q.-,
J

C. = Lnl,fpsrk;\/to \_^
@ ?&) = s3+ so+
€o.lirrl r'o lo t(s = 6
@
@ -s) I so r tokp
s+ t.
lokr >o
\v
s" L
@
(l -:o+ t-ohp - to k r
tokg
Err-] ; o 1l<r1n
@ do+tol(p-lo kr o
@

G
So lo l<r Ry> kr-z ',-2< Kr < I
6)
:$z v,ofr,. .J ty r't tt.
', -fl
For Do A dfo .

q; hl s{trY, t,f *{ ", * =-O

s *qke ft q -n b ut tm't- Put t*, i*.
{X
s
a\; '
.'. p Rq*+. + tt ?fu ( *rrr* 4 hT
\j

!ii!:::=:j::.::j::.::::j<- . .:...
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*ql'tgi',n
g co4o[ t^r ltt be uX @

e q/-'\ = It Btr) k
s Cstt) (s+u)'
-a

G'ntl Cr? &r+le) + sl{t d( : o

e Y+ s';1-zq3r l6s"+ 31-s t sl1+ ,dt so

0J3t 1e

st+ lose+ 3rs'-f (3rtxJs -r dh =o

.q
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-1,
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ROOf ' LOCUS TECHNt&Ur _
Ld,R.Evan

.o.-lrno*fr!
: RooL .[occtt f(
a groThfccl- {echniyr. +hc^f cltalt u-.,tth
th, toccd Con + fht q
roo[r C .h4", eqn cLr a furrhoor, -{
o} fh, ^,
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f&a-itcl Jrom 0 to ao.
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F1r x1 ,i o * oo i Root .[oct-tr (ontour e ].turti laromr,tu)

' K I 0->'o i Root locur dia{osrn [-tcfttdbarkJ

(o" &'npt'-.nty
_kio+oo i y Root torurdfaftam
f+rrlrecrback]
J
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m,n to'{ Rool locr*- 0iq"cr m' (Rr-DJ rt th, pro{ toeu-, afap*,,
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o
chctny odqt?t" c-i, o), slfrr
tt c^ritl tot{,Fht starfdo} 4
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t'
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i. actd'r <(Yoc /Pot* to ofrn [oop {ronrfu 'fn. (or4pr4sc.to,
/roqtro-
t. Itt' shoulcl not bc ctc{&rl. fn ctorrol ,o& {ro'nrtu.in. (i+s r^,ot u&f,,-q)
(

{ K
L
t
{
Gc eon bt fn rkrehd. *l4 tn

fi;
oPtq loop f erth " It con b<

\.'
e,r'th r" fn Foturar iI pafA or
f r.d finr k Dn.tA
{-.
L_l
v j i.l6

[.r
C;
**> Not Pxfftrtofl
I --lJ--'- o{ tlao,,l
L.'

C
-+ tr_rttel.t (1",( cffol o{ conbot{<,r
nof alltt[ .][.r ptont),
T,\.
f * Adonr"+fon
{ ","o -> rtabilf \y '[su
(j
{:
-> Add-rt&n
4 pok + lt,& ured fu & c'eore .rl-ob idtq a b ft.
\
/1 ('.' ot,'$+.h stoblr sgskrn n "*lqrcft aho) .
G-j

s
o :=/ tslo *)
L,
e
15\12\rl-
s
@
g 1t.g) = s?sCr+21.-p z(x+r) = s forrn RuD I CRLD.
&
fr\
(i
& BLp-
ro oP,n Qoof TF ko"nn qtg.
R/
crHcsl
= K[s+z] .tI |orra
-
L+ ,_.
t Taki 4 oncl cotffr'cirnlr X
a\
w S2+ 2stz 'p {
s trl Nr, I ttrnq?,fi4 T" S",J
# Pol,, =) \:t X f L ,- 0
n'
& >,rz:
r\-
*lJjt
s Xtto =) -l: - )-
s
s I

e I

G I

-- _,L
 ..:-:a: i:r-j*#drErrtrz-/.-r--:.-:r-j;.:8,4?=211..f;1--:f"e4*;:4r--.t<
--,..//, :::-....!.J:-i' '-11-r:i -: ! : a- a -. r' | ,: -:. , 't'-'..it\-:,J:re'1r*:

@@ * , =:tpx+rJ roo? d J
*
'{rb :
ft stqble
F<k.GI
uro
-,3,tf
-L
(,;
.it'
#
_l

R i--o
98s
\.:_

@C f, =iflgx*uroJ+lJ
:,

@ O 6D = J[Sxlrsd+ dJ
= J(oo"+6-,1 . .t
!Q
#= [qn1..- feo,1o $ fs some {or boti't Rt:l A rRto
'
b= -kso
t'p . f ttro
,
ii
QD =. J (Ou"-urj I

,lFD = i 11r{
@ P -x =-t €
.: v

dA loo'
l

=
e
:

K= G"* rs +)_)
(sr z_r
o
4K r' ,-
E =o dk
.=)
i
I

+ 8= v{-x
_j-*-
d..(
- G
fr"= -fi, _W
4. Pqt s= ._3.? ,", KLqr,. f fr,tt S: - o,( fln eln
Io!
f-=-:llf
:

;-
I
iv
I
I
 '.:-1:--.:-::=-.f:-..>:.---!-;.-:4:-2.:--:-"-:::::_a.::::!:,:.=?:::Em
6l
:- (Cn
\r---/
r-o t
(Cmst ractr.X etaUrtl

tcqkin pL

tt', o)

Qro
I
t
Ycltrre
'drK 0t Ca,o) can bc f:ra f*".
P*pe.t; @
It
)1
,

=
fzxfzl(2 - tI

L to)
a
oo
f Ur I + rr .Jtd 6a.k;
Sgstern o
lr Stabler o<-K<t g o < -K <L
{,

Lorl
,o 7 K z *t
w.lfv bg fil, eriLcrio
,EZ ,/
' 2ckt r)
sl Ktz + t( ).2 .

1o 2(t<+)+fxr1Y^
+dr (BLD

,(v(a ', 'ht cot,rrr4 r^:in be +rc ,oo

3"-|;:? k,
s 6 Htsr * h
obtofn '*he Roof .torr.r dfolr*nn
S&m) +* a< a<@.

n i frLp &rF?X_--6-l

Bu* hr( nee& hs flf"a ntO

Sat,iag A ee G;atorndot.

'o'.r',.'.',. -.1.
 7; To GPPty Evan! pocrc{-trn 'fhr ' pcutamt{e,. fl.ou.
h br
cd frt u.t'.
po, iil""r, o{ (run
.fr8 o ?(:) = sL-F as + l( = o poa'ctnn"T':lT FnxY :
Nccn rffn.{ ,rrF .. G*,,, = ;:-Y;j-O
^{
,Ex
I,.lou: a r,.:ilt br gair.
i.

:' foler =) iiJK

Xetos =; o
.. -t ,l
Bcot polrt cLq aornpltx .

"i dn Rc.u, fu be ccr-Lur-(cr_kc(.

@$, = t (rod+ p-,1
..'

ro s [roJa -[1" ), -o' Qgrkm -i. crt."arp {t,nbt^)

'il
ns +IAo"

do
:'=c'
cts -) Q: -q:r,
s
dg: Grls r(st+r<,1
cls
g1-
'J

=t
\\

s d hcs) : Lirt
g SCst:$ur) i.ro'n RrU &r o Q<a,
s$ondord kcond
eac{1a 6LTF.

3(r1 = str zEklns f t^lnL= O

:, ( fel n 6e7
=- J,6 rrhs
s\.crt :v

i-r- -....-, j. .. i...... ;..,.,,i...:,.8::...:l:: i

-..:,1_:..._._. -^-, :. .
-
I
\*
'.'::.'':::.::.::'.':i-;:7f:}a:f1b4- €+?ai2?j::!i:.-:':..:..a:t:-:.::-i*.:ffiffi.

j
Q-
. --t:
' ''
f' s
i -1
(f-
!'r
-[ s+ ulr';
-:--
2trln S
-r \-.
l/
dg ,!rrn (qro1
t ds
--tl
!i
4=t (t<q<*)
_,/
-\
vi
/
-i
(.
ti,,
T+ Gfs)rrrr) _ +R -jwr, (q:or
/i S(s16-1

{
*henRoo{ locru trg d1o- . & fc, 4K -
ao
Ie caatu-0ot( K
{0, on! potnt.Jhtn e"}fc+?ieru
.f-

K utrr b, Ktl+.
1.

t. I

-- t. &
t'
t
K: o -+q €r''otc Rro f"r ttm6itn
{,

1
ct ndfh"cru.
I\

I
@
-[ _,o Cn,a -Ye CRlo]/
t *.60

I
-d'
\.
- (-,

._ (.,
{. co -> o $* tol<o *hr *k Pot 4 vfrr've.rC
1

. .t:til '4
<uo +' mdre
ur
(-,

- L.,
- oo -_> o (f fs - rr.c o.o (R LDI
-(
* '(.
t, @ g@ c/ crrt$t *h3ox*rro! d.rictuuoorq .
L
_.J
 '
:"'' :,'-.7 : i<::f:+. !.ifEif,H#-:

C,.
,s_ rrrectru sPas+ Jt m e a ru btJ otur- ttnt.trse fs o fhexeo+* e )ad,i,r,,

jo
-
J: tirn R e
O
I = oo lo 360" \1.-
,
R+"o
s-t.ir.o

C f* ",r^ r{ e (;.'t I

-q (rl HLs I : .-:---

I Cs"+i) ftLD:, c RLD
s 6sr*O
t)\
zEro ( 9 C^o,
Jf,t= J$t t.'

Polti =7 Sl,rr3 .',

:

= o, {iL ,:t
l
i

P-<=t-
FA = ,&o'
B trt not : Ao, & na.lux
& av:.lr cl 5D *, , *f a

or iil he dR,
f"o,
:

co-rnf[rx -,t. r

_lkd
u r, .*.J '-t[z
Oo d, =j te ku,l ldo:t
lJ i': !

=J[ Sdl-
= ilr sd,
:

,l
I
't
-90"
/ * ctipgu*nt -Fr ftr arrkal
f,-l
!,. dryartu,u, l

j
9d" I

$= [ -to+ QoJ< - "+

9oo

[t go"Jl
1= [tl. - [%'tr,"rt,J, ,
:

b = -l8o'
 I :.i..4*,i:Z:i,?-, ;ll.:??!1...7i-.? ffi
6s
Nour
_,rv-'\
h -ftnU rnr-o
6 J ,rf,
';rD= :v @@ dorri,*= ttsi @
t I r
Tn d fr s&rnt T^n i r", carnt
fln dn d RLD @tq dao"iral. & QRu

do = Tl0o" fo*'os = tloo"

a;b

jr,
jr s_p
o

Uns{obtc
0< k<oo

I rrnts) : : K (sr+u)
obtafn RLD ,
l"?'
' .5Cs+rr
Bcoa K f, -!-( J. L'r( c1c{tra_\ nttfuS6
o^i^- )'i fi\ul CRLD.
rul((
0, -2 (a
Xer0( -)/ '
S'+(l = o
(2- *u I

St,r= f jz
\ ?-<=o
No centroid
I

l'fo ar ym pfot€r.

+ T*. tro broncLq fu*lrnare)

0our tD rnttf at
scrnt f,:ljrt L btcnlcatoag
,
o

=t 9
oD
s= -oxz ,
W
 -.-..----:...1-r-.,..^.,-.}^.r.*ffi

6)o # orri'cr-t = t lexf ,O r'. - f ]

= rld.)
#= [qrJ.- [#r.,r"1 r = *4i,
D
cO
Fq"riro*q: +qe€

=E &r Hts) =5()

B,r1 lrlutttgol ts a^r'fl .rrr r n
I
(! u,,d '

i' Bxqhar^loil o^t\. Lorut h br tr

ffnel
stqbtt) dn,*..= = E*',ltf
tL
f) q
+ = 1;t!:"
r-a -:
--n
lh,i. onq,{t & f;t or.\ 1"
6e: .)o ,27 o oo
.:'
it
,stnrL Kt bton,h .

ci =o ' 4t1.. +hct h-tottt d.P".l

Crr'l c-! tfnnPhN<r o"{Le
tlw 8.a.,:c oH oryt. A #n

q o7xt.m*';'
**";rffi,--[ou*
Co r'nt i c{ '
irt- o
&r't'OJt

,,_..--.-_ d"rpz_lf.ao
g CL+{ts) 'n
' Iltt<l
,/<1 n r,^o -,1 ad&d,;
gr' :, R u unon clnt cu itt b c at'trc,.tkef ' |,

d
8,.*o, = t o, 2r,r" :

P-<= I

(stqbteJ /r =&l .

:*
0<l< <-J :

i
]v

I
 1':.--.':" -'-1. -a '
;.., | :.Ya:7a:11ff#EE !:I#
b/()/.
--'
l

\, f, ' . " (J.

\.
Btr.t ,[nl *ht. RLbrantht urttt inttvsett Irn*ct,eil.
That (ln bt Qnrr,rsrcc{ onft Ury Routh orrctS.
\
*-l t K{ lUl = s1+ Ks +l<<

sr I * 4
so I *. Nouc to cu-t or.l.
!1.,.r "

sltoto = o
,ks=o
BL.t (1 u-titl t. <ero K= o.{
'{
But no dfsturrfon conle dqo, dor
xf th."n noL I
\ u, d*,) K=o A. K=,o.
bl,,r
e
% F"R-q]
GrH(s) -
saCs+p)
&,1I Bqurot tlo',
w = 2J6'
p-x = 3
. dd: cali3Jn3oo'
-?: rr
I

6;= l'
I

gu ) : s3+ pso+K= o

s3 t. o i
l:
s" PK I
t.

* I

r
v st *Rl? (o of [otur to fttt frn. o'.r1
I
t'
't

i"
I

(o
K so *o.r: Lor:e le zuU t
t,
t
o I

oO -k5 =o I

? i
i

-Ks =o
ks:o
B* It =o X Not florrtfu C* alu"'J
": Rt t^ritl noI tnt lrn , ori
 i"I/r(
,,'l,Nr*:*o ,nok"' th., sgstern Stgblr o'r
0 folo^r.stabtt,
: trle nre& +o ode0_ o- <(ro oI o url. I
t-

-
i u'Frcs)=
;{H i r'r. rrr

,c I
oo
?-<= Z
I

da = 9ol I
"ro.
I
{>t Y
..
z l

= x*P
. . >o
i)

Notc c,:. t:it;

(

i.or,, it see .c9.lf+.^-

cu,l trn A,*rS. 6"n not {

; 85 Rotfl. arrct =>

?Ls)=s3rps-tKs*Zk=o
s3 | t r(
sLl, v7
I ' 'j'l
s,, lx(n-z) t
{

,R1
y(.?..) s , o
p t.

I((P-z)s=a
';
:

r.
F* +kf. |o be i(LLo ;
t.:
.:
; eflhtr k=o (oO
:
A.

_:. P=<
X (uot F"flrn t
i

4- Slst/rrr-8 14.frurrf unsbabt GT<aI

{:.,i
\:: '

.'-Ttr
r Adotui4 I'tro doer- not {q t^{.
{

T !

-a

?l:-;..=:-- --. .
i-srrli-rirl,i:Ji
 r' p.
--
A Thut Location o{ rohtrt tt 0, a*r, *o b,
".to
{,r-t 4v?.H(s) :- +-'
k (s+<) ;.
lTlr lz1
s4-r(+ P)

?'< = L
$o = 1f,, zt o"
G= _PO(D
2-

z- D
<o
-L
o
Noto uitt t( t R L .urar,rl.
9rn - 'a *f. '
Bg Qoulft oo'T Q'Ls) = s5+ sopt Jkf kz = o
Rou Loue /o b t zu-a

K=o (oO 4=l

X

31 .r,r
? rl
l)
St6trm -8 J}oblc &,
A <(ro f..or, h b"e qdde ol Jo +n; REq&l d Polu.

*1
-\ 6tlts1 =
; lzlz lrl
l"{ corn pensator ( PE co afu6tr *) [ot't -,1 htare4
1 o-r^'?t",1

v i lrl, l"t €
{6ro -l-t
"(to4 (rr, P(r{0lor Cl D roqtyof,d] {rta,ru }g
d"Y+"
0 0Hrs )- h (s t lo) (s+>o)
s3 &*tro) fst zo o) 0you R r-D.

I
 4
{ro

!,)
- Li)

*)-oo

e
Yfi = 60", /ftJ, 3oo' I /4,
rt,
$ = t,*_rg c:q
D
-r._-_
.= *3oo.r3o
3
c; *10'

(ra Bvcrtk,o.ul :
/'\' t

= 6o,loo',300"

Aloo cue DrecQ fu uhuthen Root lott-r Bron,( u.iitl &rt

f}o.
Ji"d
lm C(r-rrr 0r not o .

}f ft (ou- no t+ Tlan ff I bmne( cqrh'rurl cr-(o,^J d!'tuttrn ff;

&
3_I c..t t- od + Tng_ftrnwt c..t.S*.o,.,1 *tfr*t

flt -a$"t X4 dori df".;$n GJ

*fun
, Nori h fi'nd +fu po infs af
,f.id" tt crf, 0m. o
ct u-Lr

t,r Bg Rougn CIvra5 .

?ts) = (seo)
s3(s+t oo) (c1x o) t ktc+ r o) ---a
:

*tuffi
 CL,
a4
=Thtn Bt4 PuHfnq e')o.o +o xdr r^l( c^rili ?i *r-lo eon c{i ffan!,
t&F
{
*-:.

;';' qt"tiij Jhe

d- -."

nr,rf domf,inont <rros toitt 3&, tht no' { Nrnu

Root flotur cut th, Trn, q*3'
I
,Clkr polr Q,too) \ Gzool G^e- lo hlmu A roffrnu, .," 5-*cfXnrtoo_t

t
A <e^o t?o-r i J*t & Krnu q J.rt <u-0 .'. S fr rfqnlfito"fr
t-
'LLr
f. d <".o( a^L d-orcinonL g J, ftoot lotu crrt lrn" CI"._&
c{ }frnu.
- ('' g {i
rrr-r(s)
= .,{,
gz
A)
--
L. 3'' I
.ili I fan $r( Cnn r<e fh e.l
brer vcd
f:,

't,
6a po int urtn nrl Aie m 'Rrotlotur.
{
lL{ rru+{ 8t b{ p,rprttg
@ r
'{,, I

lI qttkt i$=.fo
l. ,@ l

"t
:

{,t
l

(,i
l&l = K
o l*'lS: *r
z
r.i.l
&
a lct H=r (,: ?t fs in ro^1" o<K<a)
:

.C
,"; 5_
1 i+o
{1
q-r

Rns But Lde can

.

LHf = sr. qooi{f(aih/

-C ficd point so doo not
€) .o. fu'e an R LD"
C
o.d
:fErf' IYlo
$vr
it *& Con df iioa ,gftou(d nat br ure d.
:I"@o - Pffa,, \------s
corr c8,

,e Lc,nc.ll= * 6:xor,) /oo"

-Cr I.-
.* ^
.C /K
^10

v{
je L,."l I

I
: 1x- tc,-l,P:;)hil[+)
S: -I+j.l
j;:.:i.|i-l:1i;78:*t7i:.,;,i,L
_ ztrnr(j
a ==;,.
o
!
 fl.te' tq#(-4 - ' '* tqni," ; ,il1o f, 4*h qr-t-aclrnnt
But tcnj [-*) = - tqn{x f lgo'--+ i" 2n o[ xr-r_odmnt.
r' / r/,,1
/I
I
= -z fo#pr)
'o =
-l+'r"'l :- -, - t",St]
ltg; {:.'l

= - 2x l3S"

..- .-Zyol

/ J Qt+r; ros"
' ; So doet'not .f-rur 0n fQ-o{ lorur, l:. -'

-+ But Hognit,ol,
q conclfl-r"ou-q
:-'- sl,,ou-[d br u-rtd {" &"d r.o.lur "{
K sofrtn ue kno .a +h , ff d po'rnt "{re on Rooltotur.
:

t!

"t
NOTE
"\=--fi*ii, f'lof,.rtk.oto
/1{-, .*oin Cun u. l^-o.o[ ]0 drkrm8.q t:
_i

e,tttencr
I
4 c. point sn thr RL c{-^ec.7vorn 4 actpt<rn, :

Plro-,( conc{ n'

,& pxfrrreo{ arer rn ryn llud, conAih'on s'hoe ii
l

Y*fnfltucfu Coaotn' i taf &{.c.1- cbr on{ poi"nt ln f-ftane'

,Ci \:
:

,E Grrtg = t1
sf= - s+j4 *l"ql SotntG) .tft on Rrott1t,.a.
Qnuq S>s -3-
& Pfr*, coa aiiion cho.,.o.{
"ir
bt urcel
.

/aw,t
l, :- Io = f(lt+r)l8o'
'

(_s+ r.1
Li

I
= L(- Q-t +jt + rl
Y
'4 Lqn'
(H f tprr,,rou' ,'
s,= '3+t
^o
* .

',:- 'a::,.:,":.::..
 K'
{
(S+r-1e
Lr( - : o- 4tanii*t
\.L = -?-ir
-6
r")
=
V J'
-4 Lf tsf,+qr"j
= * 1o-0"---- TLfl ,1 ortd ntuh"ptr{ I

= *Qk+ rrl IBr" lur

o
'
I
r{
'E-rnurli"Ptr ttj=rU'f
00

s 4rfil$ =
Ffnd yoi.ru a-f x , of f oint - t+i't t'"'J
S&r+ ls + tL)
q *he { }'t(r4
,(r-., on fi uu '

Use rla5nlt r.{-o Ond"'

(qt lHttl I EL
l, /c_

I S(slt7{+ lrr!
I

16o

(on)
Lrl ( coq dtco
do it b{ P*f,(q @
)
.\ (o,-o ) 0r-
Ss
(-3, o)

= "fzx fr p diu q*WS

){ f '; arr
=W
EI]
i r.^\\2 a

\6y2LoB ch-s
-/'
Ar --
."- G Ht.st =
,K Cr
SLs+ z1
--sl
+ Kd s(s-rg)

f"n
s(sf3)
/s+n blt \
u. K.^ )
(
+o-
-1,

} I

Co'rre .t wt .+ **"y
+
];F
S+o-
"t
ar I ,*"{
s-o- .l
r*'I
--Q-Cs) -- Cs+a)
4-s ) - Cc'a1
, , H'ts) ;
C(
K (r -s)' (*l0h."*r.1
s (s+31
,'P-z=! Surt^J
?e = o"

s (s+-]) .-/ -\
Not: tut- y111fu h &"rn, ,

CR r-l T tu F4 &txl.
-+
,1:,,.]*r**.n dctrql
'q'(orl 4,t .ftrct-rark d..,** +h"
Ctqbft"tq &_!.com lcruo{ au .v<- firol bo-tk.
li
\ I

G er,r .t \'
ti

f{ ctH(s)_ k(s+a)
& flren
a
rhrn
r €tu) (s-tc.y

Rr-o k a ctvcte
4 .-
L n
= Gcr0) -
tt: @-Dr*o
tl \-
t

{'
V
L Ctzb &':arc i C&ctt En RlD t It t-rttt bt rofict crn\
{, G<b I. &<C ', in I .Jot thu. conorin%l; .
/
Cfrctr CRLD
t.

\-{. -]-htu
,l $rr t&t qpertfcrn
L i. -T'F ri
I {,
*^Oa
qfnn Gutsi = *K Cs-r1
s csril
!. I tohur Cr s-l
, b=Cr , c:3
.L. CJ
.i A{b t A<c l:. Roottottt
I,
.oilt br o r ir,-tz. <--
,{1
fn tRtu .

{, *to tth crntyt s C_q, o)

L.
tr
t',i q
!-e-r*,
t(irtfur
r g 9-L--
,
?-----
f!. .
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.
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.: uF,gutntX - Rest*i.' cha'a,tint ti,sj,j"aq-j;.n..'iUitT-

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= bb
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p
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@ t, @ trlu

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rP .( ruXudt gtot .& *q thcrr Ngu.rirt pL,L.

Oifferrn,e b/co' potct^ ptot
trttu ur mont roots a^j ..r*fr4 fasfobtdfX , -\i,1, cofiil
to*
don, by pola, ftot. \
1

PoLR n plor -
+
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= 'J xr+gr
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c -+ Y: or:r l:d *tr, er,,o) , it

i t.^l ft t

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for sorrrt g7r..tEcr.|,

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= rldlnt
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o"
 ::.":.i.':,..1i.-:,!ff.tZf:#

BC*< flreg. htsponse t-pr har, fuo farts.

l"lagnitudr lcetforue -> M Ys ul
Phor. tl YE t,

But urt Praut 6"yrq "2 ar"f, \ 1fi qrq G^r

# p["ts, (: rcLdobterJ

4 eo & rra*cd au o'.?L't tetrE

4 JfH, iyr ROrit t^rc ptot s- rs j,p L t{
foctr_e .'
V'arrid CdI ort.-
*hr tptot), (i,-
i

Ptu !o*k 4 Polo^ pr.tr* xt .{0., not tetk about nr,'f la,fu caufi1 {

::' _
,hstoUit_itlr.
au i

+ S'fntr th, Maq.nitt o{r Q Dfr n , , J 0,., ( x (ieri .,2* +rJ , -] #rn ,
A, th, f"eq d ron.c{' *. 'u, f+
P4 oo

, tht l"huo, fi-atu & .florur ]ono*n

'L{ fotar ptot .

-_) ptot th r cbsrc{ troop

,:tt{ ",folor0ltn
rfronn it{
systtmr stobitlq con be drt*mfi<(
loop TF , &j,y,t
orqin (a,a) &nc{ th, d"r*,
'ctot' tdq trlrri,t stobir^i\ "{
lBorl 4 ,o, ,*0,
o. cr.rr.ecm Fn cor J;
flin ttrvrr
"f (or'n llorqin , pNrar. irongir). Bur yht no.o-l r*t,
q91 rY inltadr'dq ccrnlt b( ctu term fn p,[ , (. N
e oyrrro,rnL :-
l'f'n itararr Ng+rfrt p(ot i to bt conlic{e,u d , ,-
i

-\
'f S? polav pht
rrrt tuitr fulqu T?nr coy,rbont
I,ton datorq
t'orn bu$ ftsnot-
-f
:

:
l2
:

:-

I
 .:-.-.: -: - .". .: I : - - - _ _ - .--.-._:.:a:-.a.:-^_a-:,_:':1;:i::::::2::=iffie:
-- ---;:__, :t-.a:,!:2111 !

'
/.,
'l/^(1
-./'
@ GrH(e) = K\ *' & FrU.,:) = .' k
J+sT l+ Jt'r r
f'I lC'rrt(iu-,1 I =;[-- * 2T0"
J ltt^1"r"
Bcoe d ltng -Yelt
4= /gntiuo) = -ta'J(,,:4 t',
fo -, u-r(d cto(kurir( |

angtc rfleor.u'rtmrnll
/

K
,f:Io" -l8o
'l
;lj
o l*go'
-> lh; plot caill cut Jin. q,.& bco< {o,
ppLq,
Ito din ttt ro*Q-u.e .ll
{ 6 hoL txqe"orft -9oo
Grtornrtrt{ dounol
mntttY
-5o
q Hfi.,,i L:- K
*
Qtitorrffitorr-,
(;
L,;
1.1 -
-{i .[t-"rr fr*,r"r" - lTo
- J., -r-
€i- tan'(coT,) * todG.l"J
*s
C .180"
€i
-t/

*e_ + Ihrr P'? con't cut * ra

16{

*(* ET,
fcol enlfr.

-& @ C1r(e) -9oo

* f), =
E{/
s Cr+sr)
:-€
1B' fit K
.J frr ur+L
_&
-€ -90"- tc{/ (* D
@
 - aIoo
+

- l8o"

+ -Ihli p.f conlt e-a.tt lrn.ox;1 )lot -r( w_o-(

oxjs.
-r, cofirn
# lea -*[.d th,n poto, pt;t cto&urt"te-
(onctrrston ?I ,tpr (nfl '.rr!0t thrn qaftctot[<trrPl.t

r*' CI __--___ @
Pott contdbut( -gi 9l.or.
l1-------" o i Igpe o of ul= oo
69 ----+ oi T.olpr.+o x' <e-tocon$tutr *9o'
{'
ort tr: =rc
I o:
o
- 9o x tgne ---+ (p-,-)X *9o" Ahd. of Lo=o -2 uq"
rL_ Potuot ot{gtn ce.ntn b
L* Au *here &nrlsrioru d-x orq \ade 'Io pfioii f'. rspeJ

fit X[ irr trn u ra phar." s{ (fu ms .

+ -The sgste.n ,rhr.h h*p ql& U,. {a,rt
|o(u & <eros or{, locoteol fln [.ft Nl*+
"f s- ptone.
' .Po[o' ptots
:v
:

4_stondetyd Troru fi-. fru _* ,*

C"? O.-+ oo) for 4n.
U,r K
- )'1 oo

STrsn :

L["npo.*iur. t cut =* o".,

l'1: oo -> o =^>
i
._[8 o" t

f, .-t8o'-; - 2)l
a"
:-
Qit I

SCt+sryJ (r+ sr") *tBd l

-gP
YI r 0o--> o $--.
I

d:-goo-+-)Jou ,tt
[rrnpo,, tutr h c.^i 9m a^^;:) r

:
:-
:
 a8
tI)
r

.t

Q+sn) (t+errl (l+sr31

(, lui I K-+ o
\-
#: o"--z -2Joo

t:
I G, fi ( t+sr,)
f; st( t*sTr-) ( l+sr-r; qo

\
r'.,
f"l : .- --+ o +
L.
*looq._+ -2Joo
foreiulr fo cut *vr xolot&
{\.
ti.
$: GuPenot on rpornf"rantX C
tl <Lio or floir)
t*1 t)
F't
s'(t*slr; (r+s131
f\
l"l r oo-fo
{j
{; o : -haqt -+ -360o 'ce
(".
(:=-lossib[r t-o tr,-t
4
Ly o, -'-r(o "
{:
{.: &.,t K ( r+ sr)l-
[ouO intuctpk)
{-r g3 lE1 one -,5 oosc'ibl,
f,., ittll m--+cl tJ<tror om not 1 aI ,k
-\ a *.---'-->-
€] --r -lgoo Point
@:t-r .-27oo-+ --goo
c . o
,n{ tvce5 .," AntCctocktrrfrr
&
* c Gs) K (s +ro) Cs+r o) +;
€i
s3(stto o) (s* >oo)
6
E} ftf: oo --> o
&
€;
@: -.2.70"--i * 2Too
,1,
qi -l0oo
L{re don'1Rnou-r
I }fn{rrdy
&, oI '-vr{g. f[t-d bc lorsi
6-qa
@ "? Tqft sornr vq.!.r.tu (E",a [nttrcq]9
€ ca{rr^-tqr
d- a

e d,
 * cue'crra onq tntererte( *o se, tht [14trcrpt
"f flot* ptrt
uuith -y( tcal ar.fs, fr,ro ofhe, flntrrcpt). ""v
i
j
('ot<e fn Rno[ tocu, Lt]( sec fl1{txctpt
I
or }m, o*,1 oflq]. i

i-?
i
:

i
gfoblt. ' (
,
f'sotn. 3r1 R'o H nL ccrB Trn. q^i thtn a:nolitgono-\ .rftabtr)
*>
CNo'"{ ttmu RL cqte }rn, ar.r-r thrn potoa
ptrl cuttt arf ir"}q
Cut 1f1, --vc YraI orc& &r
! tr:nu),
manil
+ -Io
knor-o co]^ro{i{&rr
{oruohic[ ?,? c*t *rt xal a"is.
{*e ecn urE Rr H fo, gt*) _> eq x plot 8nq 'g,
q = tlg Se
BX i+u (
BiLtheq tr,n
lormctdcra) ,
I

ethu dr *o -ftn d aitfon { t

11 on tn tt r c t p t ir:lfh *rq "(cLt qnd. .

(* {tth,c{9

e n(j.") ;J;lono_r_r-1. i1
+ Put lhr. p o.t <ttO
1

9 ftnd- v-al-rr-cr-
A.
{,Ld (ur s?lnuqel bt'b/o O=-+a qI0-0., .

@ .et iho.,. - l. : r

, , langi*1 =lgo"
I

t'l :

@ fy.,a &a^, egn, " .

-.(
-[ ^Ptl s=f.^ll
-. I

t.:. '

-) \ stf atak oad rB fatts q q/sl A I

+ Euo.t( Et +o aelo
i + Sncl ctporate .*r';
q'H.rr { ofoi
\ + Pqt t= ,f* :

+ e?LLatr Fb #o ..., !

+ . cde u: F,r1 g,tf .yatrr.

"-pul
W*.m--,..
\\-'4r;:-r;!'?_t+z-t::;_a:__:-:,-

I
:
 .-.::,
- .....-::::..-........':..::.-::=...,-:.-:....--:.:-;::,a....n:?i:=!!4}7|Z4!r,..ii4,:.|.:]-.o.i-t.i.r.i.1Tffi

79
I
Ll

L'X -
'i-

*5(trsr,) ( r+sTr)
t: i"J r co --> o
-( I
d i -goo..--: -2'1oo .fT,il
\-
.-l
-l8oo
- ('
(

!€l (K) -i (, * J,^rr,; (r- j,,rr,)

I

{-.
{t
€,
\.,
"-*5.
n (- _, - LoT, - oTr t jurt T ir)
ti m C lt c.r" r,r) (1+ u"Tr')
* f'r
\- K (-- 6 Cr, + rr) *
\-
j (o,rr y, -D, =- xr jy
€r
t.r
6 (to.,,Y,) (tr,o"7;.,1
a) Put 5ry pa,t -_ o
{
Ll
Y;Tr -"t .t.:

s tr-l: , I
'Jnqurn,..1
q) -+ infurct'pLion
E=l
q.- "Jr,r"
\< 61
&r. J€nd po int C [a [rrcepf fon ?ut L{l = += ta Reatr po,,t
Uf\
ti; -mT;
!s '
_90
-,/K (Tr+ r,-) t^ritt i * K TrTr'-
-,es\ t6 (-r,uh') (t+ u:"r,,_)
Lue %
,o) fofnt.{
irlrrctpt
EJ T +tr

- H @ gv Plhs" ",-tr,u$ -
& = -^5oo- tef roll 't0rd lo ,:
fi Tz -l& o

s
-G . :' f.arl co Tr t ton+ u: Ti- Jo
Ed
CoTr t dfr_
-€i l- ur2 TrTr
*s l- a;Lr, r, = o _-5\
cn-
-e Jr rr
| P
Oa

-€
I

r,

'&- GH(s) : K (t+ sr')

S ( t+ srr-) (t+ sl-3 ) -2foo
{ r{"t

Tr *T:
"<E
Tr Tz T3 l
.(,

t
.jo^, co to Uu fn ^ron gl -l Boo

(,i O*-> a oo
"ll >
CrrtrsJ o .no po
to, pt"r r.,.1 -vt rcor * = t *ra
t
4 -r ( C;r., -; * r,,o-, ;*:,:,^,,,
,rr''ot orH ta -9oo

( .'o it c.ri{l hoL tut -ye O

o
l(rJ.
t
g- e Hcs) =
_K
(nsD-
{'
s3
{'.
{. &Y
{',
oo
{, OylLu
-( One LU oo. 6)^t( infrr ctf t
{.
.Rrd co totrx pt.t " not
I
L7 /orsi6[t.
{: Ex-
I^.,
K(s+to) (S*)o)
f1 s3 ( srtoo) (str oo) -2?o"

er&
ei FL'ooJ (*"- >o,ooo) f ?ooo'r.ol: o
Notfrocriblt

C
0 { Uirr LUr-(oO
e
, C\l . _lBoo
\i co LL uJ c tt cut
e) "t dfmu
[- vc xa{
€) "r..: )
e
e
$
s
-:
*
i:i1-_:_iai. _.,.,:
I

-
r-l
t-._..-....
'&- GH(s) : K (t+ sr')
S ( t+ srr-) (t+ s't-3 ) -2roo
(.,, dN

Tr *Tr
{ 'TrTz T3 "<E
1
$
t
do^, co fu Uu fn ron gl -l Boo

f':, O--> a oo.

:

T > (Tttr=)-, i" )o\o, pt.t r,.,\ -yr tcal t

T>T>*Ts
.{,, .

{,
1
r-_]D
r+ I ( Gur:J -_> (^lbtomu faott"norH
E
o', ft crrf il not tut -yr O
o
r(rt.
t,
t' ex
q:- Q HCs) K ( t+ sr)-
= -21 o"
{'.
s3
{, &,r
{,
{', -Iooo
o
i,
Onr ul o". ont int(rcrf
{. t_

.Red co tour pt"t

(l " not /oss16lr.
Nol
{, Ex KCs+to) (s*:o)
fors lb,'lr
{:
L,i

s s3 ( stroo) (st>oo).
cdY L
f,i -Loa) (*L 2o,ooo) 1{ooo'tat - s
N ot[o<r iblt
$':

e
& t\1' *lBoo
LL LJ t tt cub dfrnu
ci "t
[- ve xo.{ o,.i )
$
e
C
s
&
 .fxom' golor'?to! -
CIutrrm in
<:--- -
atr%n { slo bit?

G-] :i .j. 'rhr - po &nt Gr, o) i" *o th. l.{t -f lfr. po1o,t flot te Lf +ht
-.-- )3 not enrtored b6 NXq4ist ptot
poinl f-r,o) th,n *rht tlott .[oof
lurt,.n r& sojd to be stlble.
.T{ th, to th, tfqht'{ flola"- plot r- ,f frht
poinl & r, o) -,1

Pofnt (-t,o') )3 encloseo{. bq Nttrorrst PLot thtn tht tto toof cgrkrrt se

T?
o
sa-rd fo be unltQbtt.

o:tf fh. point et,o), ;i on th, patar''ptot t.e on th. NgUufst Pt't
tht ctored. toup rytrn ,L soid *o b. florqtrd\ a]abtt'
rirtn
(

@r+ tht PoLo, 2tot i.c -T th, Nvqld,t ptot- flnhrtute -\-e wat 1,,

fAtn, *, sgrhrn it sard fu b<- condjtt'on*\ rtablt'

-a
OL>eas t

V
(

I Arrot^ll dj*.offoru
I (orr tX 4 ,Cf"e.t'aru
?*ri,ol) ll

^
l
I

FI (

Ar^p
+ 'o
-6
(r-l t''
,,.....
I

L----s.
V a.
-l
. -.,:.,
.i::a )

.,,',
ii
.14 Ir
\.1

!o' Cr H ts1
= -
:i.

S Ir+sr,] U+srd t,
I -e: -J i@non,sfobre
X) -e{-L; @dnctqbre
m) - a>-t \ O stobte
'r
 f
sl
. , a-i
y(f,trU thqe concln' Bq BH cn"ter'i?-

L "(e,t fc,l {.b,ttq- --47-l =) o.4l A Q=.5Trr- ) a-ll"(1-

Ti+T'
tl- Itt k=IiTr=11T1=t
i. n3--it t} +, rLl+
s- .:
b L'irn'ir)
%s: = * Sth = O
i
?tsl :, s3+zsls+l=o
l.
s3 .L 1,
{
v-

(
s' ,-. L
al
{
.\ ..
=+ (tourr.1
!a i
{
6.
"t
Al 2Jo"
ti
r-l & ru{r1 =-- H -

{'. G+u5
e;
4"1 {Lt rst drtrr,^ninr fle
(_l
stabEtitv uy R-H cdttr^a.
-l0o'
{'
?t$ = s3+ 3s'+13 s + k* t= o 6p3

I
si L 3'
{. 3 (K+r)
-5o'
{: sr I ?-(r+t)
d, o
-5
.fo k+i
€')

Ql 9*Cr+r) zo
T fr ::----? x< g
C lotq
I PLot r.:.1 o +co ,"" 6 1X <gP i Stqblt
Ll K=tr i l"lor'stobtc :

e K>0. ,' Uncto ble

C
{.--
Noto dror.r tts po [ar 'Ptrt
fr ?! Polot ptot cuts r'!'( xq1 orL,j -> condjt on
"g-t {g btt
t'-.

{"'l
LO= T-rh+L
e. Inrl
(; Lc-
& f3
t/
t
 Y
IfrlftrtcpI a - '.
frcrHci-rl I
I * =,1,
a-_ K
s
D
6o
,Y --[>--r 2 slobtt
I
o <k<8 +
'1out'
H:r = -l- t) Mor.sfb
I
k - & :J Motr'stb
..
( -h < -l 1 Unrtob tt
I
:"k >B + Unsfobtt

.q cr H Crl
= k [s+tq) Cs+ zo)

s3 (s+too) (stzoo)
/,a Fs r
' ftlrt{ jlrl:d'-'
-fA t'1
fi:"ot Both fnte^ctpk
+
*-t'

a& b.
'[hta 5 q
., Stautc
pors ibiUtr h.,nlfv (-{f ul
if t-,,q) u*'l$^r \;
@rutobr9 R {an, :-
stabk ' stablt .i

& ,{},
:TLS RLD

\l :

0.( K{Kr ,
Unrtoblc
i"
Kr{ K (K1 , Jtoblt Kl 1\-

Kr{ K {oo Unrtabtt

( =Kr o,
I,t0r,(abt :a
:

K= kr- ', Nal Ul qlt.

. .

i-,
ltut oh s r for.rflfr-{rt\l.
i

:\-
.

IJ
t..
 t,t,'
, Oraru FoLao Ptot strffi3 ' o:thty, thon 11 inirnurq ?fifft e ttm -
i
t'
o G rrCs) =K + GH [fu:) _l(
f.r s-1
t:
I'l = lt
n
I
.l l+*,
4= - tan-'6- t,:) x * 7
t

{.
o." ?ofnt Uu & jlnd
luodrc.nt
f, = - f tBo"- tc#coJ i--)
t - )-Joo
\?

t
: * l8o * hr'r.^l
q.'
:-_ tr) |1
\ #
{- o -lUo
\.' I
K
-\
*, i
I I
-/ oo
I -lBo
-t t. i
{., h 0 -90" B

{,
/ beco,,,rnX (in'ii.cufnq) ju*
t.;
f" Antftt6qt(urisc
,tncl sVrh, o
(oncLih'oncte-t,{ slablt (
-fr
q
0..
intu tt P t f, rnoelr a-n -Yt
."i,-*l- A.r1),
3J
tr
Tt=J , rior. stb :

Ci K>t , Sto&lt
s-l
\_-
K<l Unsbo bto

s
s Q'K\t_s l{

@ -=)
s Yl = -l{
s JTr,x;
€; 4= - fun,(--) *-+ bcoa Fotnl Ut' t" lfth
e
n
qJ = - G ten''Lo) */
€j
d= + toflu:
s C$ lrl 6
(Ei
o K 0^
€3 I I I
&-. I 1 1

l J )
@ 0o
o 9o'
&
E'i'
\-
a ----:^,r-+t--tu:./1?ffi

g K (s-l)
,c\----.-- (or)
LL/
.-,S+l
rstl )
,/ i *-=_- 4tl ltcrr.l e#krn
/ fl= K #uo
t CAu parc -ff rttr)
LO

d = ton*&L(]) - tqJ(or.)
= tqnrul -
lSo"- tqn1o,:
fi, = l8o;- )tan{ur
(orl -.zro"/'+q o.

fr, i t 2tqndu: Kfc-9

(ts+rJ

10.'/-tui
-> Both Tk &^{ ,4lt yat-t I

sgsterris .

-> Anct bofli rAOp* qN per{t.t A

\ 1( (r "-sr
sem fc[rrt..
-+ An.I sqrt*, ls 4 rao-tlu.r H. ._!o"f + rT 6'
0+gl
y'a*nl 9.r.o-.^ ^, lt., _A^t, -
L'L'.r\_\jLT\OrlL}+J:f_ q nuu\t.
-t I{ 6porirr "[
__-- \
= I _> Thtn qt( fa-ar e rykrn ,1 {o.'gtno-l.d dtakt,, a

(s+q *)/ U.-l +"J

.:-
(s+r.y Cs-r)
- @,1 6,r-rt
1"1 : 2 ---+o :+ '.:
A! .-t8o"-+.-go' i:l
l

i:

(5J (s+z) -:
I
i-

Gou cs-:-l i

11 : r[ -+o
fi: -180"+ -90"

(dn.babU
 :111.i._|T:4-1/-:.t-41:!i4a44Eii 6{:
. . _. : !.-!,4..--in-+u.&

@ 6rr ,S-')
(or) IJ..'i
,/
,, * lSn,
u--
_-; lJs '
,,ttl fcul s.{4knn
/ M- k #uo
(*ttpacc {frtrr)
L,O

= tor*(-ur) - tc{il(uo)
= lSo"- tqniuJ - tenltr
: ) (,
tBo - )tanrr,:
(otl -z:o"l'+g o"
t..l (e;9
9; = ; 2LQn'co K
(ts+t_t

*+ Both TFr o",t ,*tt yau t-l_

t:
"
|
,
l
I

syctsrrrs. it

-> AncL botn.*Op* qAl perft.t 1( (r *sr

-_"-_
sem fcir.t., 4 raotjuu H. 0+st
-+ An.l Stlr{.em fs (.cn,*r'+-,tr -go'f + rr 6"

-? ry 6puirr
q
'[=r r +{jg- tfubrr .

-; Jht n qrr
I
arr sg.rtrrn -& XorginaXt4 (abt,.

_G+t) -_-\ Uw+r;

Cs+,J cs-r.l pm;ffi-l (

t"1 : I -->o
+
A! -t8o"-+.-go' i.\
l
i;

@ .: (snrr
Gou cs-:-l
f,l : zls no
S : -loo"-+ -90"

(dn,tabrg
@ s *-.,
*( --t utl
l- 0.)S I - o, riuo

f1:
- 0-7 5-
$ : 90"-+ rB;"
l"l t^l
jr-tr(or-)"
)f = q# tonn(*o,z-;
Qtouty

fir 90"+ tgrnl (a,>*)

Mt-
'rl_-
.i:y_ I
I
Ll:.o ldUS-a;)"j
,= 5

- 2f 0

s Cs--r.1
,1.,

I"1 : 0J--> o (0nr[a ut..;

$ :" -a-lo" *2 *+ go
- I0oo'

t{
s Ct-s,1
11: cD->o {Bo'

P: -io"-)oo
(unshutg

O 'crH(s) -_ ($+<)
l.l < If I (/eact coYn l(n souco I

Utp) 'N
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dJ *180" Ct," i -{ m*. forPf4,il ktPt cor"rf ak4" ,
I

stobltl

Pffc,,,,oYor, -fireg*ruy dtoin o.,Jk ., $.t ( ws}

Ct*rpc) ,t),
(n &g .o9.1
C fi= coxrL qf {*+ & *rr.) = cov.rt crJ

!-a-:!rJ ----:i4-| -*j .

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o
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q nstob i rity

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r
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t' LoY
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;

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slt o

6...in l'lorqtn -d colrt{uttd oft o .opc w}.ru,

$Ur..nr1 l= -t&0"-
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n" at f

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drcr-trr cr Ltntt cE .l. *ifA dntr-t 0o,ol"
la

LcnnCj.a)
*{L
= -l8o:t Pr{
E
6e
*x
f)rr
rt't: / cn(,ro*) I

'wq"
E Pn'r = lBoo + Groo)
= *goo
ao"La8
?
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= -t0o? '.
.-',loo'ite.) r
{
a .i
i

- lo 0"1 (soios
Qol $ctt trrt r^rftt hot #.,0.,
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o

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l

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.. ^
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i" --> :rf Pfft o, G m ,i -JYnite fArn oth,, c,"rr( nie& n6{ U"{rn ite.
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€:) * -> lf./ -dg. < trpc stpt$n

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d,
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e=> i

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)

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l

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t..'

fi ,.Sto b tc
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i

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i
i
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e l
i

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S+Th,Lu siqn Cm i. pnl fs ofurulr some.

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4 stfib,-.r"*\,
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:

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tr: -- $ tad @
G3 ilP = 5o%
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f:l l-= 0,2 Scc rfiz -- 7

_(
t
t
t"
t
fi'_

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i-s <-lu

i-e
I
drcncu +fu fuo,ttin'oa bonc[ Pto k tooncr^.rr
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l
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I'1"1 ttu l=> '€, '{o* 9. 'K'itu =) Bt,-r '1r'

f

I Coin ',( B t^r: coill"')

it "l'r* ) Cm$ =) stab t,

J Pnn = loo€rJ, -? Pnq $ =l stobrl"

rli-
L\\ C'r Hh) : .ll" Bd, t,cr =P
- s CS* to)

q/t): s?lor+too - o

dn:lo
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= l0
Q-: o'r
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'l , o1

h)b=Bt^l= tdrr t

J4Bflrq "", + t*) ti L P- )2fl tlser

\th
\7*

W 1 ,r,r *lxz (

:O0
& Hts) = ,'t'
sCs+r.1
, fMtct {; 4l
o

Arq
PX = l0o"r /cnC;."1 ,rg, |

rt tu?. 9 fr't = L
:

lf3
:

!....-.*#
dg, d =-1 :

1,fr -r
{ :

:-
:

lo
6 0'
o
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-o.

j P;'4 l

Ldn(ir; I
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I *T, =
i

= ,_ go'- tonnfj :

= - ioo- 60' =) - lr0" :

:

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t

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6:
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dre / @-eos @o

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lls) r
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s3+'s'+ Stl = o
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L:";

/
.-J
srfo
t t

M.$. st ob1. , ,, - . ,.
ioln :,
t I re-:,4 lj.

lpnt = o.l (, -,

. t:: :..

\*
rocecl-ttr-r +o tf"d 6rq bt:i thot.t (c0-a-t,&ctt{ -
i 4Hcst =
s(shs+rJ I
.' cr h
fi,^r)
=
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(na= -t
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, &: |(*Clrr)*p.
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Solilaw s3 Crrrr) + st(Tr+T>) + S+K =o

aj ifh qo qn'
:, tlt lrt TrTr = I
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K:l
o:- ) !_
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&: khT* ; j
Tit [r
{.iyr{ .:: ' !/t
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=
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/"i
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;01
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&
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a
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a .l
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'rn A,
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e )-
n-
= -tBo

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-i c.ar.t .$t .A ,o .
Pc,l ctfftrtnt .,...iutu
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T Lo o :"'*r^^t
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fonl Tqkt a,. Poru"e"n -'
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rrn( -1.
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rt - T'
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IP
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h= -_ ?0"- trin{A,r
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1

.'" t Jn.
rL
9 o' 631-
0= I cHrf."rf
blc
u fc rI uf,lq

+ doou doe.,-n,t- a.fftct qatn buj buuflr

TLarrsportofrbn
"#ert dp. : o fuJn C") tlf tt bt rari"e( , Thil 6m uoft't
bt voyieel.
4 P rra oil o yl rontt& *ro rn Try oru . ddar1,
Sr*t"q'urdel-uX orfnaot
efut ulqc b,t c/4{rt flrt.
lTtrri t^) ttt,1 Tyaru. doLor,U loflr
?th lw ed g,rnfa,tol )r, tr{erw.t Idre,.,
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t'
4t wri4 ,=) N
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J
t
fNt= tEdt /Cu[fu,llrr, togcJL".,I.,gl_t
q
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(;
:) t.t3z = l,ag
{.
= l8o"o
i, L, ro"* ;o#[Ur1l@ roirhout l;dtoq (c,tn, u da)
rro
{. -)o

(i ?v =- lBo"t /antjr) l.rq,

t
lEo"1 m1
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j |lr--r^
I

.---"-1 e,')
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l

i
F' l-
L Srtta pftar, t^r$r no1 Gplultad
f,
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:.i
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Xoo
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at-o
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li: Un = loo
fl
"2
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Ir
q-r\ ---
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e &rt @
6
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s
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fr-(e) : (s+f)
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(s-t 7
Ls'n
qJ
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,€ f U)-z)),(-go)
& -+
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A
w

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W:,rffi1lE:=Z:;;:...:-- i.:!,:,:tr:;7: Eili;-r.7...).1--:,tr:.-i-1...,
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t
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= leo" t C. ro")
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Jl .r
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x=$ur"-
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I

TM =l._\__) Ti.t Tr-

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t. c!r-
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t.' L
t,.
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= uhY

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bt yarr"d t{ $& co*e. otrt hbe
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f,. p=o l H=P=) x.= a i Stabt,

Rqio'\ "\ => N= -r-

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fs-'J (s..r* I
dr {,J r tan Cto {:tr€ R-n gp,ptuicr. do hh* {-hr a^rLorr
BX Ngy"it C'r(er-io -=) p=r

&, intrrcept -t,g3xl

= _1,33

Fo" tLo rrol syfkm

tr* be d obrn
,C
hriP--g-
:"' t-t, oJ ,rl.,otrtd bt
tnrFd-r .

f '--
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fakt Ej L
fn ou* ca[o-tr{ af8** 8,1

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Ola '6rtts1 (:l

A, i,l
al
f= a
l0o ^o
It =u
G,,
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dr : 661(tolT)
(

l2-
cQu L_Isr f
Lrsr-[
A) stab (l<r)
L)
{
B) sfqb-f)<r7krJ >) Undom Daol filor.rl-obt,J
L.
c) M &r. .rio u
HY' 3) Undrrdoruped
'.'
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fij f, t?;iii"'piLt cP-a'' '-+ sktb1, { unstable clxkm

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e Bud lh nr, ch on. t-,r lrt .[tffln
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C
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q :"
c
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rt]r
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s g}} K=l i ;&en

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fi
; 'n' P=o _Bk
f .
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a
o

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8""
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o
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e J. {90. =t
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o
oo
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o,Ll< < L J_- >k >1 Lo,l ok < t
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d tco $r"d 4,0n "

Ary= First e,re ntedt

+o .IrrLu Tf thrrr on\ ttrnt' hufirnrt sfu. faa
be &onr
-r 3v Cl"ro^4 t1p9

Qrtcrl = -x (s/t +r)

I [s/to+r )
l'1 = *2orttogroLo+)-0 lo3r,K 9 +r=f=o'rr
0 = -zonlxl0$,r(-,r) -r )rlo{roK l+ ax(rJ -o
fltrJ '
4 ttAa = 2

'
'& tn'ldsr dd.g

:_
1v

6.'-
Lr,1X :

o 'l')o'
PH f-rs..
I
:

WOp trPL
:

Gr|= a-Gro) = +roc{g

?tt= -_lgou- (-llo") :-
:

.a :
i

= lo lcj i

:v

'
:v

: ..:.- .:!:1Y:;--.]E:::: i3::::a:..-;:rf,:?: ia.i i::

:..-
I
I
 .---,-r:.L.:l?=a,F.%
ldl
tl

+ To, ebhrrn ine fftt,rs $o* Bo & ptots.

,+
c

v{.
Hlf
\ a--i
L'j G)
{' /
l+w
\- il-: - -rl
:t) **,-J

fl
{,
\*
'f1
L;
{:i
(-;
BPF
{; 9
L f.
t;
iL:

--{-
Bsl
{., G,)
{-;
tr'i

,e
s tl
!- ,^r
&J
\-$ s)
\*€)
I
. 8t\ I
E:/

.f,r. {r
t,
YL.' (ls) - :J
J*t
An=@ ..u fhl,
=) o clB tr-
oe\rzUL '''',
(r'tor fln Gatt-)
Constent * I'{ }. N cffrctrc *

- cansider unitX .fteotbark !.,,r

( Htjt r 1
oLTF
= x+fg
:' t/-iro) * xt ig.
R1.,, = F"_JU
ltc"ttr =
'/tu,
+ 11 =J#t,,[ -
| :S=
|
/ r+ !r,t
't -,f'"1
JA+"rTs1- {= t .l

I I + \r--
o

Y= I ftr"1 = rcr#[g) _roil(*)

d- / a rn ^
IE In *-
Jro
lm
=) N=ton/ = 9/--Y/trn '
:..

l+9.9 !.::i

E r+; 1

f
LX & U o^i conrt, ftr a
r.

-o fi'",n ..,1,
/\1 anc{ N Qre eLro Conrb,)
'-o . ijsin$ -Lhc n
l..1 & r.r eircles JxqL(n H_8 u ?0,rtse ,{, thr ploced.loofr s.u;1trn

Con b( obterfntd .|ro- o[rF. ifs

+ tl : Jnt.r''
Q+x)h y"
,
m"
[,+xL+*r:*/
L'rn 2-^ + yt]J = XL*Yz :

[,- r.J *
.

xa yolr_ r,J - :v

ry(t.1o-. Xt =o
:-
:

+ fftl=t =2 * 2x* I =o =) x - -Llz (rt.un9 :

9 f{.u+t+ ,
i
I
lv

[x* -u' --\'n yn = /-l-f

I n"q )
(tr-, '1n.+co^n t.nt cfxtr
:

:J
:

tentr=( -.nl._,"t :

lr11_r /
!,'!
I
:

)LoUr-uJ = ^4
:v
:

l'j

,
 la8
t t)

t) E '[='i )'1=m =) t= -\lr ''l

I & for cr-o-t othu vc\Luet "f Hn
tii) rf H=o=) c= ,o); h=o I
fhtri ,'''ftt bt o ci',-t'lt -t
i
Co
-\
{
Gi YI= il =) c= Gr to); x:o J .ftnttt t'ctoLittt'
G',) The (rntx C clu 1,1 - rfrclu tfu 0n th, qfnt corrr(fon&t
{-

/
,+ N=tanp = + fht yalut o-{ r{ =o
l*-
(-
l+ v. v
x 1+x
{',.

i
t+ N=o +
a-D
(., (or) i8o" (or1
t = o- 5=n
,{:
tY Nlo =) t
t
f-:

tj ?_

f:, ftt :1 t Iv- I.tt+l

4t{o.
1..
t;
tr-
1.-

{-'
centre: f-t
IE
Ir
._t
2N/
; h c,-oLful =g "tN
tl
Ur N=o :\ V*^
( / -v
{.
t.
Gl :Thr cenfre c{I N tfrttu rO
L(U oTt th, .{,t"rr co.rrr-tfonCr +r
"f,
\. ihr'rcr-Lut-$ ,*n-,f'
I - t.
:

d,
G,l A tt Nl r 8"rlu Posses
I
th"o -r,.q h th r o flnts Co, o) ,4 C-I, o) .
C, f

*:J

lY,rr- cnH u,:) flan,

,G.

f:
A$.'

€lr
I

,iri.
w
€) ;
a;'
f--i
ct-,

€.]
TJ

ffi
.&.)

fr coruhnt N dxlq,
I
c&,
I

ffi",%
 -'*-=o--'-.o'=.1*.an.-=fr --S:StLrZE-*iiieitjrai4'liAisz9i;:

,Nrthols
pr* :
|:
exhn sr,on
"{ Mt t'l ftrelrs

n {s LoX,o,
Ma I

Nqs ys logro6

g,s,h-e

ru ,fi'
&>s
@ urg = Statt, rnor 6oc{,P{1rtpl:

= ag xor-fln
& LJg Kv

4rrcs1
s .,-]
L,+
rV,I - --llto{rrLr rrotoxroK
0= .- )€ togf * 2o loQ r^K
. q".
^1,J3 sl''
o
,! K=dS* Ua=Kv. \,w
th
VJ t!1= ':
tr]1 'l tt)3
2

f
orti,rl*, =
trlg _ h7-t G.lny
- t_/ :

I.

, ,'

[^J" L,
:
:

l,.r,tW*t t.lrY + r^l,tr,cra

= -.

.t
;v

i I I
t^jL @r
:-
:

sB xo+ d,r^5x+lL= -t,t% I

X'+ z ( r, trr) x + (. rx) r* y, = ( )t (t,tw), i

E-

ft+t,rz9l+yt= e ) 3
i
:

f [^oo:]"nyu=
:v
g
\ y'q)
() -",'
r'-r
[..-
r*f = \,16=1 h= 3 '@"""." t--
;
.

w4-::-ET.D-W-:-J=-',r_ ;!'
q
I
t

i".
' .
.:-...

g! UnLrss ure c{on't civorrr

a

Ph*r Boorftot aMs-|-m e antt bt

&ftrmined.
(
(
&rHtg = .J (s+r) (St? oo; ;,/+ Cs+,) ( %oo +r)
t
s'( , 'tlBs t ttoo)
,i
so/ s"+ lBl a r)/
r'
*ld D't \oo [.r oo
usge ,n tl $, -7
I4o+Jol{rrH I fur. oo
1:
1r
I
I
-\o il T
{:
A
, ydg
.{t o48"4- T /d,+
g
{'r i'td
frr
{:. *lDd

{i
,{'',
xo
\,
{. dnt - L.,e lefi,oa
d: " 'u]** - Lti.lal
?n lBo"+ /. Aatju:) L..^ -
f,:
- ,*1n =) lsf+ xo
\
r
dt)-
{'; r- Lt9 st+asf k =o
(j K- trri -
'ti O: 2Qwn
L.
Mn- I
.lfrdl_rE, - t.o4 =) 4.{e ,o,Br _T.(,-
<
\- '€; -Y(
U (, u ri) h' n
['
&i .tdr: a4 Il"%" li
ll
= ll'sf, =) b4=
,E;e
rff
* '\- ffi1.') Gn,) (*_,r
e nt : - 2oic to gro tc -r Ja to
& $o K
i.s =
,@
J1gI3x loJr, loto$roK
G ' o.o,?eroe ql d?tn
:*
v,
 J5 = 4o lllroO's t Jllogrot<
I .' =) K= -t'o'q
t'.frA
g 60lls) = K
li-rJ 17.*'J
, [*-']
L*-'l
l'f = - i or( ,:X ,, rd + "to loX ro K
a::..i

= --)o(,) iolro E r Qo la{rok

:

:)@ :

CoNTRoLLER I rcHprnsAroR (.'

{ront'oLttr(or)rom|en<otorAa&tnfttthoi,&t-utolu,"o*?
?n sevttLs uith thr ftont +0 c{ri,t thr fton[ bwo,tolg d'arlxol
{

,ff.i.e h cr.hf.r, c(estvcd ms?.ft(r cP',otn,1.t1e[its

--> nhgo"nl c{ut"rcl
'Jlpcf-'ril*("nq:huf oru ( ' Ct'tO,taoRrFrir'rr' I o"Y
COrttrotttv fu urec{ +0 c,hi.r.cl
{ Cgrn I ens"o}or i r* col fu a,h f,". c{qfttc{. f*,i' hu}orrtt cl,o'atkffl;ft

C- cn. Go_
' Grc fi a}$,^Ifnq('
R l+ 6,GcH / chor.eqr.' iv

--
.]hi Itotud bt Lu rd,
+
:

:-
l

Gr.Gu
o-tk'h\ c(o"' *, '-
ffir, ctr nob -l
i

o
oo 6.ts) = P(el
E(s1

v Cn nho U u- t,rrd tn .ft ptueflt.

 lioctts of '(ontrotttl :

+*xl
0
n
Oflscontfnous f,lod, O (onttnuotu l'lode
I

;.
t_
ox/orf contxoLttr Huttipos?t(on
for) Ttno pos?ffon (o!'
{
-
t
co ntro lltr flo in q0.1

r'
l
Conlto tl tn

:
I utt) ! tro
:1
t_ : unc{t.flrrrtl ; t=o l+> p+ L P+t +g;
f:
,.i

{''. Ernbrddrd (od :-n u.urtr,iol 16n{ro1 tar

{' cont"oLt,I-
t-, *0N/ort
( trttt s loo'/" (orrt ttt)
; *s
L,
= o'/; fmpl j
,
- .un+*tfnSci i ,.',t) =
-+* [erX stnsittie
{ hY" rJ (ttu gtlsrr
i; ,,,qfu{[ orftrah'*
L,, "1 fo?nlGf 6{rrnh
{} )'f u ftipos r"tflan -
e & , [<n htX uootor
e
C
+ 0 fsrtntfn uoue (ontvotltrs < xPr?bff s
{t
&, oscfttotory blf,o.i;rrur- &t Pdnt
"]
g.
a-_
*.;
.Ili o ntiru.-dt du r do hi h i( h ff,{ a.^t

4'-
\i
rlo t pt..f.o,ct- ta 4,6h,, ordtr
C, f rocrrr tl ,

C
{\ ffi, aflp{r'catt"or^v w tqnika *o s,"rfle sl.dcrrrbrol , fircrf\ (or/
LtDting sgsfrrq ttc.
e :

G E; tue p lr d #ht dumtnt u:o/h.r 0 fl/o'lf ontroli,, .& %r, tkEtirrneo[Crrrk*r

- :j rI;ri -: A:L'L- t
t -:!:. :.-:. :, . :.
^,
:.. .
 lrttoy, c[r"od-r , tht]rnostot ttc.

lroporlfonat &nttotlrl -
fro po$rbnol mitol{t r fr th, nah^rot (xttnrfort rt om/orF
controIItr'
Ptt)
PB+ frogoftfono-1. Bc\ne{
4 .rr*) CnonX,
fh, PrP. Bond
"lf f, fuporh.1rr
6v<r
tooT, \jr
*o ilP ,

-
..-9.,...
Prt) d e tt)
P(t) = l(or ( tt)
7--r I
P.a
I
e H.t
utU trrf ut

farom,k,,-.
PB
t
= fl ol.routtl
il- lao'f '

-> ft h*, $ood speed hesfonse.

f-r
"N
1-o &tknoLo trdle th, eiror ,L {a-lt.
Eih,t -{ Pvopo{forrat
Qn t"o ttE orl s,

&c Gt

sCc+r

tP r'-,
t l ifh out ' ro ntto I tu ',-'] I

]Ur, --- r (,

5=) 8ss= e€r/

,l
'

gz / uJn
?fu) = sL+ 2Qro4{.r ur} =o
fd ZQon - )<

Q=
#^
..rr]:i.:i:;'a: ::::.-:' .' ,. : .:::-...-
'!f,-{)34-.'.?,:1-::::
I r1
q.:
.
tditrr 'P' contt.otlt,
t
-l.qpe
t' =, 1

+
.t
/..', ,i^

:; Jess =
1_
?€t (^r|..,,
tr = lK9,t^tn \ ls. Kp , ere $ar)
{
9f') : s? 26 Lln s +Q^f r Kf = o
t,

.-d, Jr
L) 1Ofl
r

CI
uJ/l: : toa. Kp 9 tJn, = J,,t$lre
(
,.'^,tt LJn"t-V
,{-' =
€. - x x_
-(l . 210n, lrr'
"r wnrlf, KP-
(,1

€)
Id! . tout H r, 1,., s, CI.Lo Vsu)
- 4-':

t,
I J*td
itE
G1 I'lorr 0,,[,,,u*o* )
{:
{t-' + Th w rht,e trod,-uff ,,f 1,1',t'3
"1''l rtabrlrtq.
_ d'.
t..' + 4feo f{ i' tmfoss?blc t0 rnokt (sr o +hcLt A
,f-, = fu" =oo [xo1go*i14. t1p

f-,
L.
-{ *\ n
fuo?odtrlanu
^-
'
(oh't rLfm?noie e.rror comf \tttt{ finry.,tttin.i,
(ontrollrr
{, 4 bysl(rr., Th, uncl,or,'d' ;rr;-; *q-,1.t ht"fctuol rrlo, e,rjtr;-t,
{l
f,i
,ti ptectot (or) Restt &ntro[(er -
'-
i€,
C
Corltro {-{ er .
-C
t d p,u o(e [t]
"e ctl'
g,
;$ rnt = KreLt)
{i e (t)
-Q e$)dt ett)
DO
Pe)
-#
-Q -9.cr; = .Pu]. = hrt t
-;-
E Ct7 o lils
-6
_@ IIL = hcctf tfyne
s
 '- -
:.::'. :: -:l :1'.-. :- t-:-.:' -i. -=. i'.:aliiii€f.fE

S+K n
[*s+']
+
T
tdithout't' Contto Iter -
tJ ith 'r' controut^
=t tcJPe
tl?. = '
t.
sL
+ €ss = ,\/*n l/^L -)ecJ
1\ -O
-/ \;:r.I

?C.1 - r.+zqulnr -i lunt ,f

= 1,tg) = s3tzQroncn+ i(j urnl = 6
(Lt YQrfrn = ). (unrtrut,) ,
j-
C'.-
(r-- )t { 6**y1
" d €J,r i

'tO
6o
(I/ co4{rottu ecrn ,lrrt trro,
=o
Bu t cloUf ri+U lo s{. t

controLtrr tncrruu frt tp,4 *. ,t1rf.i" &: to

*T$*i '
cohr'th thr ss & rrret cr i
bt,t *outtitq elio & rrro e(x
€
"
-i :DttXral c,yltroltu rhourd hrrrr b'( \l
*l* fr,, 'r1ouo froruru. t
I

0erirotive (orl Ratt &r) *T[ehorn.ter .,.

conLyotrtr - t'

Utt) B{ ct *.- Roft ckc'y.

il { -+ anquqor ctfrptarrmrnh
Jry K's Ie-eh o rn r[,, ,Lar.
. @Cqt .

^ I (t) d d , eCt ).,

ctt
P[t) - Ku d. eCil Q1[r] = ?:! = Ko "s = Io,s,
ctl E,CJ)

P(t) = k)d rtt') TD

= Rqte h'mc
cU
 IL

Jecl",orntttr uitl qfrq xc.otfnq .n\'1

ih ;r { chongl t^rith ttn'u,
hcrtt
',
lp ch on q fn q ur tth ti'n, . tx . (Ro rn 1 b'0

fa'rabaL,t lty)
--> 'D' controtttr olou-q not bt urcol O

fn fart flroreuu,
oO
co ith orrt ' controlt rr -
*I_-g
Pt = J-

tss = ,Q
;9 /CI,
1.(s) = $1iQr^laS+ hlnL = o
.ooo
,,
tal '-- )'-

.{ r^ln

€il-h t
tn
controtter _

*uD.,
"U, - n
%' I (ss =co
'?tr) = ut(2ELont.r Kn t,3at) = o

f. sfal t,it{ l[ru ]ut €(c =oO.

P+D Con'kottrr -
<---.--_}
PCt) o( .,*, n Kr d- ett)
[ I
cUl
Pa-ti = l(p
i ert) + Kl ,( ettl J
chJ
- = lrt kp Kns]
Ecss
-
L

6ic(r) = kp Ltr Ie s]
o_ <c.o wltr b. ancrtr{ ot_o-+e
ip lrta}r,q,
{. tq gt ,r f tt 4n t -
"p".b
 ;.-4-r:r.r+r,:r:4i/-r--d$+*q#l-\i-;-:1fr
. ;: )' . .. '.'..'-:.' --.':: --.:'i r.'..-::-_/::--_!:li:.!1i:1,=: 5a

" PDt'((p='.1

JtKo s
s Csr) Qrln_,

-Iypr
=t
*g
S'
ess
= L= ,j- Ky. LrJa i:., i
I
i

Ky= qr,4 /l@ * (t+KesJ t lnt

S+ o ta--
y'1rtrq tr";
K"=,,
tr v

7/-s) = , sh z €, rias t k9 si,JnLl LDyIL:+J

?hl = Si )tinsIe*
ry] )
rL,;
{t+ ., Mn J
hrd{. + or(?tlotfc:n., ",1,, .st-ab trq

*\ / ess ut itt not darrtarr but

o
flt rl of in crto-r.c, eith u b ut rtauruq .
C)'l trt6131, ,

tl,, .lronsfent ns fonrr oP th. sgrtern

wis.h out G.fft,tinq Jhr .t qq{ statt fttg?rnct .
P+I Controttrr -
I ertr t KrJtlu
P tt) d &uJ
I
I ett] f
ct) --. Kp I{tJ eru arl
&cts) =
fq
fisl = 'Lfrr
Kp xr/s]
r(PLr -#]
.. (ltc(-s
Kr L slKrl
) = r-::_-..--
s
 I

'

CrlcCS) -. KrKp
L*"i,1
3
r-
$x tir f r+ rr.]
L-vJ
I PD
oo P+r g ts A cacco.otr PD conttottu & httqro-t tontrot\u'
"{
E
'Pr'

S(st{,roa)

fUP. = z
=) ess = o
\- PA

1/.s) = st+ {$ulaSla swn"t 61 L3rL = o

h
L tJno

s' 29'o, Krt:n"

:
jl 1{ uir}- rrtrnL
I g r^1n )o + .{bt
6-
n } Kr
!o
KIt^trt -\ 4nn K:
t't

|t
i-
I

L
I
i

tl.
1

l\--
I
I
i

i!.
I

f--

!-
i
I

\*
;

!-
\_
 ','::-:32TiTE4?i!:r,?i:ll j7fl.iTT_f;i

+ P+I* D Control[rr -

"-"+
Pf CorrtroLtrv 8, pror..' *: sko&X stak htsf orrs e on c[ otro
,:,

frlterk tht sXrtrrn trorn rt rurta b I f trn L?ht $rtrq ro[

GDtvo Llu ,
\
PI

C-l

?TD
-\
In Prp €ss btronra
o
nlco trc'n s'ient ru dnrr {rn Pole ac{drd,
f
0(tit{crldcrnr d_r't ouF.
l*on ' drtc to
I toltrottt.i
*/
Prt) 4 t e[t) t Kt{rCt} + Krl.ruc{J]
I
. clt
cl"t r-- '-J
.i
TLD = Kl
Ietu 1 xr-{ eR) + fulcttr atJ
clt
Gcrs) * el, fr[rr Kns+ Xr l
E fs1
6-J
&ccs)
' L q- r-l
Kr[t+T4s
' rot
'1
4t kt =t
,I

h' th<, +ttr+s]

L
.s

= Kp L s+xl!::+l
u- Y ; r
Pn Pr
D,
 :E:a:=i?!:a:{'a-t:2-:-..:""..:

t t9-
{l
-+ PID -Cont'roLttt tlrat C&n bt trnpt,m,nteel ag CAstod.o cornb,
{
pD 4" PI (ontyo[f tyS, Can frnryore both frcrncirnt ]tUforiir and
steactX stote hrsfoTree f.e totet ht(fonrt of thr sSsttm.

-
Po;- p[t)= Kpert)+ kpKodetU

p (t) Kp s in Lost + Ki Ka t:, co s tooi ;,&

5O
= ,/
za-------, A
o d tant o,
zrt{
oo
Pui = J Xt"* xfxi uro" s ia
[r,:.t +g ] €
BlnO-'

Ja'+f+rABrostg
G : tanr l*!t-1"" k'.) ?{
'!l
o
9t "

lWxawo 1
f-{eocl fha-ru_,1
ao
o
ho Pfi er-e t fn
Ot
rl0 ,

' ri at r\rc ?(t (eo,*d

:, Jt -i, c{-uc +o Tfu-1f upttm,
I

o"o t*t"j act{/onctm,,1 .--} f hort [ec.ol,

P+L:- P(U = Kp ttt) t Kpt{r
fett) al
It o"o
ttt e Lt)
= ".(rt frot tog
I rt) = Kp girr Cui"tto] r XpK: (ol L:ot
4a7 t03

bny, Pt{) =
t, Iuott
e)
t

r*
Cgrur,
6= tqnn
L#xl'Hl r'*q
t -t") doror s dncrot
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