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Z t1 0
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  f (z)   C |

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N n/2RnMR_p2[KbeUK?gXeUK?S`K?J@a^N{[XJNy8NOe`QNOw\QTh&JtK?J%K?MNOe`&[YiK?J@ak_aV0 (Re K w =) Q(z) VK n |} [XK?&_SUQ w =n/2
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SUK~&ekN8z\NbS`_&MN8YbKJ2aUKgNOekN z 8NOe`QNOJVX_bVK i N i NbMR_iMTNOeUO_bVKMK`K~QTYbNO&QTJNOeUQR_75SUK~K?J\[K?J@aUekNoQ(z) [JN

ON8eUQN8\?QThOJbKJoK?M)NOeUO[YbKJ@ak_VK n2\?_OJSUQRVK?eUNOV_\_&JoSU[rS`QT&JX_n2SU[YbNOJV_NK?Sla^N78NOe`QNO\QTh&J SUK_OqXakQRK?JKMN
ON8eUQN8\?QThOJoJKakNak_OakNOM,\?[NOJV_ z weUK?\_&eUe`KK?J@akKekNOYiK?J@aUK~KM\?_&J@aU_&eUJ_ C p[XKOnVQwvQRVQTVN7g)_Oe 2nnVNKMJ2YbKeU_
JKaU_mVK&K\?K?Sp2[K~MNL\?[Xe`8NbQRYmNOOK?JyK?J\QTK?e`ekNiK?M_&eUQR&K?JyK?JK?MgMN8J_ w | I#S`akKJ2YbKeU_bK?SZQT&[N8MNOMJXYbKeU_
VKekNOdR\?K?Sp2[K Q(z) = 0 aUQTKJKK?JyK?MSUKYbQRgMN8J_VKeUK?\^]X_mVKMgMN8J_ z |
QNOVKYmP8SJ_OakNOYb_OS7p2[KrSUQ Q(z) aUQTK?JXKm\?_Kz\?QTKJ@akK?Se`KNOMRK?Sn
\?_OYb_{S`[\K?VK5K?JMTNOSaUekNOJXS`c1_&e`YmNOVNOS7VK
N8gMNO\KOnaUK?JKYb_&Sp2[K ng)_&eMR_ip2[K~K?M&eUP8z\_bVK gNOekN8NOMT_&e`K?SS`_&qeUK~K?MS`K?YiQwK`K
QT} YbNO&QTJNOeUQR_fJK?&N8akQw&_S`_&Q(z)
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K uXQR_&JKSNOMTe`K?VKV_&e<VK?M(K`Kfe`KNOM(wVK=M)&Q(z)
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VK z SU_OqeUKyK?MS`K?YiQwK`KrQTYbNO&QRJNOeUQR_ g(_&SUQwakQw&_n>MR_p2[Ke`K?V[X\?KNOJYbPOSKMakekN8qN*`_VK5&ekN8z\NOeLMN\[e`8N
QTYbNO&K?JrVXK C NLaUekN&SVK w = Q(z) |


?!
1"G:
 JNOMRQT?NOeMNKS`akNOqQTMRQTVN8VrVK y(t)
SkN8qQTKJV_ip[XK
s2 + 1
Y (s) = 3
s + s2 + 4s + 1
_&eMT_LN8J2aUK?e`QT_&enXMNKS`akNOqQTMRQTVN8VoVK y(t) KSVKaUK?eUYiQTJNOVNg(_&eMN7MR_v\?NOMTQRNO\QTh&JbVKMT_OS\?KeU_&SVKMVK?J_OYbQ
JNOV_&eVK Y (s) |( NOeUNiKMTMR_iOekN8z\?NOYi_&S w = Q(s) = s3 + s2 + 4s + 1 gNOekN8NOMT_OeUK?SVK s = i, VK?S`VK
]NOSla^N qXaUK?JKYb_OS[JNgNOekN8YbKjakeUQRNO\QTh&JiVK Q(i) = i 3 2 + 4i + 1 YiK?VXQNOJ@akKZSU[XSgNOelakK?S

eUKN8MKQTYbNO &QTJNO|eU QTNX

u = 1 2
v = 4 3
}eUK\?N z&[eUN Y[XK?S`aUekNtK?M&eUP8z\?_tVKyK?Sla^Nt\?[el8NtxKM&ekP8z\?_tVK?M Arg(w) | K5_&qS`K?e`8Np[XKy\[NOJVX_
_&e`eUK5K?MK`KQRYmNOOQTJNOe`QT_yVK?S`VK ]NOS`akN n ON8eUdNVK N n
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K?MGSUKYbQRgMNOJX_~VXK?eUK\^]_V0KMGgMNOJX_ ss|  VKYmPOSn2\?_&Yi_MTN\?[CelON~QTYbNO&KJi|@JX _gN8SkNg(_&eBK?Q(s) MG_&e`QT&KJbKJmKMGgMNOJX_ w n
Q(s)
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v
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=

. = 5/2
=1 3/2

=2 =0 u
=2

= 1

. = 5/2
= 3/2

N   YbNO&KJ5VK C
q  eUO[YbKJ@ak_LVK w = Q(i)
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 JNOMRQT?NOeMNKS`akNOqQTMRQTVN8VrVK y(t)
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u = 4 2
v = 3
} p2N[Kz&K?[SekMTN Ni 8NOYeUQT[NOK\?S`QRakh&eUJ NVXMNZK \?[el8NQTYbNO&SUK_OJqeUKMNMTNbON8g(eU_&QeUN8\\?QTQTh&hOJ{J7S`VK?KYiM Arg(w) p2[KK?S 5/23/2 = | [YbNOJV_
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 v

Arg Q(i )
=2
= 1
=0 u

=1
5/2
=2

3/2

N   YmN8&K?J5VK C q  eUO[YbKJ@ak_LVK w = Q(i)

WQT&[eUN N  ekP0z\?_LVK Q(i) = i 3 2 + i + 4.
q  Ue P8z\_iVXK  eU LQ )

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VK>ak} eUNOJS`c1KeUKJ\?4QTNVXK?M@SUQRS`aUK?YbN | I#M&SUQRS`aUK?YbNVKBMNO_NOqQTKe`aU_J_akQTKJK?J~NO\\?QRh&J\?_&e`eUK\akQw8NgNOG(s)
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g)JV[MR_iQRJ@&K?elakQRV_ |
} Nbz&[ekN Y[KS`akeUNmMNb\?_&JXz&[ekN8\?QThOJ &KJK?eUNOM
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NOM,SUQRS`aUK?Yb0 NLgXeU_V[\?QRK?JVX_iMTNJ[XK8NiS`K N8MVXK~KJ@akekN8VN x (t) x (t) |

f

i f

xi (t) - + xi (t) x0 (t) x0 -

(t)
+ H(s)

6

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QTO[ekN 5 QTSlakK?YbN }  MNO_L\?K?e`ekNOVX_

xi (t) - + xi (t) xf (t) x0 (t)

+ -
 H(s)

6

xf (t)  ?
G(s)

QR&[eUN 6 QRS`akKYmN }  e`Kake`_@NOMRQTYiK?J@a^NOVX_naUQTKYbg(_\?_&J@aUQTJ2[_

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VKMNSkN8MTQTVN7rMNakeUNOJSlc1_&eUYbNOVNVKMTNK?J@akeUNOVNXnaUK?JKYb_&Sp2[K8
L[x0 (t)] = H(s) (L[xi (t)] L[xf (t)])
L[xf (t)] = G(s)L[x0 (t)]
&nK?MRQTYiQTJN8JV_ L[xf (t)]
K?J@aUeUK~NOYqN8SK?\?[NO\?QR_&JK?SnG_&qXakKJK?Yi_&SMN7aUekNOJXS`c1_&e`YmNOVNVK } 8N gMNO\KVKMNSkN8MTQTVNX

L[x (t)] =
H(s)
L[x (t)]
&
0 i
1 + H(s)G(s)
_OYb_S`KNOJNOMRQThNOJ@akKeUQR_&eUYiK?J@akK8nXMTN7K?Sla^NOqQRMTQRVNOVmVXK?MS`QTSlakK?YbNg[KVKVKjakK?e`YbQRJNOe`SUKfYiK?VQTNOJ@akKMNaUekNOJS
c1_&eUYbNOVNVK } NOgMTNO\?KVXK~MTNSkNOMRQTVN5 & |
QKM2SUQTSlakKYmN_&e`QT&QRJNOMOS`QTJ~K?M2MN8?_ZVKBeUKaUeU_@N8MTQTYiK?J@akNO\?QRh&JK?SK?Sla^NOqMRKBgNOekNMNK?J@aUekNOVN x (t), H(s)L[x (t)]
J_tg[K?VXKyaUK?JKebg(_&MT_OSK?JsK?MS`K?YiQTgMTNOJ_VKeUK?\^]X_VKMgMNOJX_ s MNKS`a^N8qQTMRQTVNOVVXK?MSUiQRS`aUK?YbNtVXK?g(K?JVXi K?ekP
SU_&MTNOYbKJ@akKVKMNMR_v\?NOMTQRNO\QTh&JbVKMT_&S\K?e`_&SVK?MVKJ_&YiQTJN8V_&eVKb &
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 _&eoMR_akNOJ@ak_n&ekN0z\NOYi_&SbMNtQTYbNO&K?JVK MTNc1[JX\?QThOJ w(s) = 1 + H(s)G(s) \?[NOJXV_ s eUK\?_&e`eUKK?M
\?_&J@ak_OeUJ_iVKMN
QR&[eUN |
I#J{KS`aUK7\N8SU_nG\?_OYb_ H(s) G(s) S`_&JaUekNOJSlc1_&eUYbNOVN8SZVXK } NOgMTNO\?K8nakQTKJVKJ{Nb\K?e`_m\?[NOJV_ R
rMNQRYmNOOK?JrVKMNg(_&eU\QTh&JrS`K?YiQw \?QTe`\?[MTNOeVXK C SUK~\?_&J@akeUNOK~NOM,g[XJ2aU_ w = 1 \?[N8JV_ R |
I#J@ak_OJ\?KS?ngNOeUNoVKaUK?eUYiQTJNOefMNoKS`akNOqQTMRQTVN8V{SUh&MR_rK?SJK\?K?SUNOeUQR_5&ekN8z\NOe gN8ekN
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QR&K?JKJiKMgMTNOJ_
w|
I#JoMTNgeUPO\aUQT\?NXn2K?JmOK?fVK&ekN0z\NOe w(s) = 1 + H(s)G(s) iVKjakKeUYiQTJNOeBS`Q)MTN\?[Xe`8N7QTYbNO&KJbKJ\?QRK?e`ekN
_fJ_NOM_&eUQR&K?J7K?JK?MvgMN8J_ w n0SUKNO\?_&Slak[Y7qekNN]NO\?Ke>K?MX W 1 G/*r i3y46,+ 
p2[K\_&JSUQRS`aUKK?J&eUN8z\?NOe
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geU_\?KVQTYiQTKJ2aU_&SS`_&JKp2[QR8NOMRK?J@akKS |
w(s) = H(s)G(s)
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NaUekN&SVXK?MK`Ke`KNOM | s = i, 0

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QTO[ekN K?S`akPbe`K?ge`K?SUKJ@a^NOVNbK?J MTN

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I#J NOYq(_&S\NOS`_&SZK?MVKJ_&YiQTJNOVX_&eVK p2[K~K?SMNc1[J\QTh&J5VKakeUNOJSlc1K?eUKJ\?QTNiVXK?MSUQRS`aUK?YbNLVXKMTNO?_
\?K?e`ekNOVX_nK?S 1 + KG(s)H(s) ng(_&eMT_Lp2[K~Q(s), MNK\?[NO\QTh&JyVK~MT_&Sg(_&MR_&SVK?MS`QTS`aUK?YbNVKMTNO?_L\K?eUeUNOV_iSU_&JMNOS
SU_&MR[\?QR_&JK?SVKMNiK?\[NO\?QRh&J 1 + KG(s)H(s) = 0 |} NmK?Sla^NOqQRMTQRVNOV VXK?M>S`QTS`aUK?YbNmeUKp2[QTKeUKp2[KJQRJ&[JNmVK
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w(s) = G(s)H(s) +
1 @
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VK&K?\K?Sp[XK w(i) K?J\QTKeUekNLKNOM_&eUQR&K?J |

e(t)
x(t) K H(s) y(t) x(t) H(s) y(t)

G(s) K G(s)
N q

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