Electronics : gate ies & psu

4. Control system
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fn.C.tfrne at-q.lhe *trne
f,, fT >.q pfi,'co-l xpfesrn tah%l*=| . y* t*T
toe ort not bothurd
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I
I L_h_4ffenn{rol eqr.
'L+.Bectrn'co-trrltl@q
I-l---*,*lr,,,,\

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H(chani,or cgurra-re41r

* ]b convr4 Slf{u,nL,o-( eqn. *,

:
4l gA",r'c

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r

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I t

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qr ur,rtg Lqplatr -he*toum

d

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-*'

t+{

. r-.-2 ,...:..

t U(t-r) :

\ Io con rtf diffutn.t tgn. +o oetbn'c x

\!*

t*gt1;=xltl

UtU

i
I

so'ne

Yanicl fvr a
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\r t'lathtrrol,f..rl r.n
- rr

trqr-4ot'n

txree[.

x(t+>)

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tern

{ fittl

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?

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&rgct)LTI s_ustrrn*
=

fttnctfon

lrtg
TL--+

xt+.)

Conyokrlr"orr

L.I
YIsl-.Xcs).'H(s)

a.Y(ssr

kt :

@
r-olfo

li(s) =7

:1

,^

@Crmrr

on\ fo-r Lrrsy-,t.D

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

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

,.

=+ 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 ,(tjl

tt) - )yD< Ct) t

,T rtlt) =o
'":

lot

co4o1n'

,lo

&

rt)

'."o

>rtt)

be

g(tl

+o

A"n.t

rtf

LTf rgsttrn
fl.o-u,

C
r

fqrro r<cl

t:o

r tnitfat conctiffont,
& rTttmn
Trorufi., fn.

=c

"f

tfl

o. o 0
t fl'Cr,t

= fyl

54pu151 fttsponse

ru

:rq

L' lrp

(ar)

ITp

= ftrsyj

,:!-/
:

i
l

3
t

t'

---* {fr'^'e

Itr

Jr(gt(,r,H.
- Conrtxqtl,r Janto, (ot) Ocrmptnq jo,to,
f-"
s J-t _+
tr1; rO
uJ

Ccornpttx fxqrrcn(g)

.g

S=

s-t jt1r

=) I"m,

ju =+ lrequ,ntX

crraEltnirtr.s

ch

. C nrfr

ir *trnt cLor, roco< s

r^.l

[tl

tht r0t .t-t t., )

C.*ttt kfrt *ht u)
d.orng

tkoro,tenitftg.

60

tSgslem

But
f-cntro

,b.

-+,ip ?oto

ilf

I sgs{trn *-i

ieaio

dtsirtd .,/f .

(ont"ol Sqs11, -

or
fi

co,ltro

&

flnJer,r{

I sttrr{ena &

fhc,t

uq ,uhr,h *r',{

rnt ons

(0, s-[{rrro[

rn o-r"ntcr-t'ncel

ettcorCdrtq

tl,ttont'|x

to

or ol.u irco(

crt0/-rJ

Qnn tv.

-Itr', eltmtnlc/c,t
r-*,.,,1r1) rhyn,n!.q
"* t" -.''- h: bt
';"' d'".,1'
P

1i

ccsrbcLtttl
ccd-La

D r'fur

;.t-l--c,rt,.ii 4e{tbn

Grl

bq Uu,'

onttr

controUict outpu{
-Y

J-

Btfrrtnrr [nput

{t

eon

&ntro Utr

&mmond

+TR

d.

Itort

'

sfqn cL8 r

i.cfr'e

-fCtmp

th

cd thr

ro4froLlnd

.0r
-Ie4aUorf
ttr rnt nt

{
{reda ctr (

q fiedharf

,iobg

-t

['xror ctuiec.ttbn

+ Gnbol egrbn

i* lvtsrnt *h,n onlq E.D ,ri clort(*rontool A,t,on.

n not f rtitn t *I,n ont4 control atFron ;-, donr.

Contt'ol Sgst<r'r

Non-freclboek

(oprn loop

(on'fro
cont"no

sgsltrn

frpd botk (otttol sgsttrn

C (tortct [oo p Contto I etor.rttrn)

I sgrttrn)
*vt

- r, Ji.d uotk Cs

Jrcdbo(k cs

i"ton- ma,hrn,
c.s

Norr-,{erdb616 conttol tgstrrn -..7

b not

it

4rrtorna-ttt

c.s

-rvL rnron
ctoer
vlvLr not
"i-"'r
['rv

tho$ Jrtc{batls

. Ft,c{to,[s do e>efsf ia ].fon- ftedbotk coltvol syJkm

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
h,.*or'"brina connof
:n{
tnvolu<d ,
f
_E. - Juf dulvtmffrr ,rn fssflrs, Blo.rt .,rr,
";;
tso frtst4t

(.
,

^f

i:

.0lcs

cLCs

.
t/

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

yanhblt varru
+h, ;rd
rf
'ft-om 'lhe rtl pofnt d-uc tu anxl:rr;
*|r, ,.i' prat d.{!( +o an,J
'l

dittu'banttr thrn the controu.,

a"turbancu th,n th(, coq&ouer i,,:-'
,i
+h* eu,turbon.uf *o,. ,4 +h;, ;i;,i.t;,;,;,n,.
't' nof o.oo,r
*ltncr 0LCJ Grr not acc,r oJc. aaa, crre o-ercrrair.
I

u r

^. batk siqnct( -i,

crlcs {ecd

not (mp!.g(c{.
@ -Th, *tm, ooqstant
'

fo rn

Lcs {trctbark sfgnct{ ri

cu0r,u,p

tmploH(c{.

*, ftm, m*t. "{

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

9iU' I
-.: -',: '''': ,":rri:.-:.-,.r'.-r--.-.. ,.-.,.,.
S.:lrr.-l'i'
a:-:--,u:{.k.i:.!-i..rln(..a1..-,:;::::iai:}E:-.-t'i;:.::-'..;.......:..
.":.....,.........

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Ii.^^.
| [ r, i\r

@ o Lts

e>t{rr46s &fttrrr-

cd pctrorn c{t r
-i
t'ovfolforu n rno?? fn LCS
-)' @ 0tcs ere sfmplt 4 tcononr,,nr0,
fntern

f::

-1

1art r.

+lfqh rooy gain &'1 hrqh propc.tot,"^

c{tht-g) Aut

C Th, off..t "{

Ctr(

O crct con becorn( unrtobl, (.u, {,

ttnsto blt .

boncts

Ctl(

u\-'.

tntrcrt-[q sloble hut

!(
stah"tige tr b.romu

ove

Connot br

.--,.
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9

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lF,
4
&

Con

bt

s}obiGgrd.

cfftrt "{ tr.tcrncrl corsttyloon{,.;

inttrna0 forornetrr
[tsr in ( LCS .

ycirfcrlforu

.-(,

--\I

tI(SS

Lrrr

Httm

iar t..J

Procrs

control tht

T[r4pera{ctt,

or11

LtgrLrd [trdr

tJtogoninX sgct rn
.(pe,re yr h {(lu

Unif,td
?

3(ryo Contr-ol *h,orX

corrt"ol *h,org

-)

L,

Nqtu"e ,

t
L-,

Qnimol,r ,
etptern:

(,)

eyu ,
socr'o econornfrs

Cqb,rrrtf fts

[.i

L,r IES :
f.-t

6i4re

t;

PIUI

.is to 4o rnorks
lo .lo ts morl< (avq tl n)
6 {o-1o mcyks

fue[ [tms _ Pniforu

d'l gx "f CqrE f aptvs.

2o.'9r5 q{

rrs

foftrs'

Kro

Re{a-cnru

o ol.c,

: o

ogoro

@ B.s. r.lonko.y
) *6
Nagtoih

i.

l. &opo( *

{or rES

(, O

Normen s, rllsc
oe'.la.trnino.-.

L;
[;

,,

F,pTE.

,,

t,
iB*-rT.,.".:iA-:.' . -:r - i

! :)--./-*-r-i-tA-:-,--:-i ;'. -,,

--.'--. - -.. -..

" i ".: " ::.',2?.=i::X::?E'+E

:.

o{ ston d aret
d-, raqrom Reptertrttcttr'on
rePrts(rtTCLr(on , o
tll0cK
iry_l$qrom

.i,

C
fe"cllratk'*oPotoqqcV- * Re ftrtntc th
!9_l_

(onttcltrd

lorcct loo p

rgsftrn .->

E---:--------->

"fp

-> ,tted bAtk sfgnal

frrrot sfXnAI
.ECs) +
-r--

BCs)

.$]19* qts) = l!,

= torroa"c{poth

ECs)

ItLtl

*r,

HCs):

(c)

CCsl

cr(si"

H{s,1

=
0

CCe)
R(cl

=. fcrdborh path T F

gCs)

fs\

E(e;

(sl

EG) becorntr

Loop 1or1 ol,n

Cbsed l.oop

too

p T.ron,

R(s)

bco< loop":brj Ptdbc.t[

?qfh J dic(onntt[td

h, {rr.

rF (ot)
t
J---'rt l,Fj7>
(-Oelar

-\
17

= cr. [n +B)

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

op(r)
C'rcy Hfs.)

*ve dor -Ye

Jtect

-) lt(s) =l
A - rt ftrdbo.tlr A

loof

gai,

or o?m loop TF

barh

Constd tt-t

(, 't

,J

r'f

abouF Htu/
:'t.n{
tu. rtn.
$i

Ih, Qbore B0 R .rAorrn

f,

4.U b cttk trgotrgil

,1u

sytem.

_wr j?rdbaek
i' t-= ':.=''

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

@
.F"t

fedboth

:_., ,. :

i.I

:.- -,-: | :. ---

- a7

tUSexfu /[arcactr !PelesqI

l.
a'

rf

t-

R>(s)

= Cr ts) i

Non - fntrrattioX
Cas

ti

gut rf

RrCs)

-+

\'
{l

t'

crtc) ;_ rntuortfvt

Ccc)

p>ts)

. Gi(s)

Cr(c)

R(s)'

61(e)

.j
lJ
*ht4
t.

cascael.f1.y
n(

- cr(e)
C(e; -- R (s) . crrl(s) ez(r)

D- r^r
nzrsj

\
(,i
..'

(_,

cocting

Grr(r). Gr(sJ

Yctid

R=E

[i], ,

i{

Br

:-

Ii
(r

(=
5

(-.)

C
D

(-.

il

f- I

C=C

= Br =
C;.t

C>

( art

hyt

RzGr
c'rz)
Cn.

l\

f:jt f, ar. or',q J

'/ teed {ortoctod bPi!$!*RtGr

i-:

\;

Co-rtadfrro

*-=3-=QH
RF

,@Parou,l

c-,1

iqltrat\

YLI-.H

t".\

hon-

-+

i,

(,'

onq {0,

rarid on!

Vyr.

sfcrnd.er.tel tololoq ftr

gr( J&fit {or

hert

A^!.

bo}h syterna

[4U"f.t toyotogl

I
I

\.'

I
I

'.-.-,.. ,)

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g/

&-

*H\tbn'd lopoloq$

*e=

Qt

.*---)

c'Lt
Crrr

trrrrl

r"

] No stonc{ord $lotoq*

r:r.1

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

Cft*

ur(

lrtr&

+hr

'to

,-

t(ct{ru

B_a1

Block drhqrorn rtec{tuflCon /ilgtbta *..-=--..-.-.(<(-lj:j.:_

t:

@ Gr-Q,
@ GrrGn

- o{| BDq
- i-.L3ettmtnlsj

rr-

Elemenls

<

@ stoch

Oq
Itil
@

-/

(04 ,,-l

-'

i (B+x)
= R&+x

"

g,in.hrng

t .

L- ' /<^ :z-'

/*{-

flJ

G-l

br

4.f

l'':
*';i3i;;hs'A
'^- t'.I

fht+t on add.ex a{ttr *fi, blotk

C\

Aaa,c

--> iil

t.,

rl

c= R&txcn
t

f':::

g$s$:
R**_)*A

GrJ

Re

+2

xy
fiax +)+R)
\ -- ''
i-.'.
i.:-

..

.--

-.

'-..'.
.t '?r-r.-!li):bL*;):t;1:*;:?i'4---:L.ir
-.--: -.- -

--,.

alYen

ft

*tulb "addt rs

2L;*"

l-i6;-+6pi
-I+

=r T
\./
/

C= R+x +y
.::.

r::

-.

,,:--

t.-::--

,:.:j--:_:'..-.-..:-1..-,:;....:

C- RtX+V
'/
.

:..:'-

..

_
:.::.: r- :_::.jl,-:

..:1-, .:

.=-"1L:f .:.:-f )'.t:??ffj3)!..{,.

e
I

.-

q{-

C=Rtx
Y= R+x

@ sfrtft an
R

----)

C= R+Y

):
add rz

be

&---'c=
4

lx

fure * h, *q
R

lo,o*

l*,

R+x

k, 4,f po fn !

+x
C =-R+

I
x\

Y=B

Y=

R'f

x-x

ftcdure 4frrnd xF

Is

t{'

"

bellr
Crf

-_l

hrl

f C11Grz \
l_-|*/
l- tt c,$/

-r

a-,.,-,

.,.,.:,,:,-..,.,........:-...-.-.:...,..

:i'

\rr\ul

--

$Xn"o l[ot:
-Bq S.I. l'Tason
fhnt e(eo0r uf*h
c{qcriuec{ fn *ht {oorn

Qt'lfnotiorlr+ siqno,l {to,.o gtoflfi .& a quophrcal {eohnfg,,re

*he re(atfon blo yarioblu

"4 o sgsttrn thal
"{ o set .[ineor alqrbrir eguatfon.

"{
,E* -+ I =
'n't@, th.i cennot bt hrprrst4t.d
+U

xs^n9
--:--l

vOriQ61,

a*e

l_1||

hqrt bco< ?!s not conf,ein any

= )^nxtyla
.t.

oro

n
*o

Con y(

/t

ete c

Br {rti)
^B'

u/t^:

[rfccra

'sL
fr(r)

fabd SFq -.

Yl

fl*

*o

Yg

*.

f,,

Vo(s)

J'ar =

->

Yo

(5 ror:ob'. t

I/s
{ottalu f

d
*,_\)

[, =

cfr

yi-

n.

,dou

Er

Yc

,!(f,-i,)

iL

Tq

Lue C9")

k,

noci.,

cPr

o.o

fh

tlR,, i,

u. gru ir

0r n o. o-{

sFQ

r,

Vc -vo

Rr

Y;

lool
trrt-Na19

Vc

vcr,neoblu
o

L1

tlr

I
7sc

st i,
* l/sc

-L

-J_

Rr

2\

Fo'ru:arcl

4 oxd.
ir

fs-rrn "N

it

o-f variablu

cen

be

g*=i-: ':)-:':l::-:..:,i;?';ilj.:';i2i..;-:.;:--':

Ferd

RL

fath -z st.Qfn.

bolh n

ean b e an gthing ,
f, *) Va -2 V; -2 (yn Yo

_)

Crl"av<.cL

dnt

siCr

)
---'

fi

convt'rt

B Locp

ctfoq,oorn fnio SFGri

\.-=-

Jakt hoctu onmr."{

otddtrs &

pttru

tokr-$ Pof^+s

,t nodu e,tto

u:ith uni\
tlfl (

To, tu
&s

ro8

Ch

con

-l

ifnd " I

uurt

Btoa,

cor,lyr

Cg

&o'ven

L9)tt

On-a-

*'n L'I.
Er

X=')t1 +

.'

P3u

I
l

of? nodel

eg5jlg_lg

UCs)

45

?tth ol

X[s) =

Tr = -Qrxrtltlt pLLr
x>= -ezkl * piu
e{n'
&lffe.entt"o,q Eru *h.ro (crnr({ {o otqobrFc
I
Xr

(s)

pj u(s)

s Xr(s) = -as Xr[e) + XrtsJ + Fxu(J)

s XrtsJ
-_az Xr(s)
.Pr u[s)

Yarr"obtu

X, xf ,X6u

'lake 4 noc{q
{. olp ,c. x(s) x ilgdvut}ti
i,

xv

tls \x,

,/

t
T

t-

-1:!-::i:::

! --'*-.r.:-l:,-.::!:i.!?--!E
W.

';

i-:,1 ,-.-,u*

tle

,con clf,ecttX g,t sFG bX gi'tn tXru'o-l-ro

6 ranfobler

!Ql<r

noro

, Xjxr:xr

N, , xrru

bz
('ro9c

xy

'lo

blw x1&ri,

&

ir, te".

br onh'tiTokd

bg trr & kqru

to be {ulgtrtec{

\
lrrf

t.

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

l:-

=i;

Pr.A*

.h,". k=lr2r3.--T)

n
Prr

= No' "{ fort^ra"c{ poth,

: & c,rn Kri jor ro c,,c( aLh
"J
: .OrtornfnunL 4 +h; grcrph
e A = t- Surn rf oU fnc{-r"v,'drtq-[ "&g!" go,ins]
L.r
+
[borl "i z -p" - to..hf"Sjsqp'" go-ins-]
- [ lor' 4 3- 'lnon -tou,hfn.! ,(ool" Xotfnt]

(.

:.1

I
.II
I

+ * _ *_.

r
t

4K=

4y fs- sarql

ar A ficrl n

loo? gctrru; *h,ctt a"e

Ax

obtci-fne&

fno

rrot futi,hfng t6 6th joruarcl flotl'

=1- [.u* -i "Y tncttvfd.qr toof ga-tru +ho$ orq rof dor*l^ir.4
+o k+h Fp)
+ I sor
trofl gcun th"r G/u notrou,t-ry

=J[irn

e^qltrtc0,fn5 *hr

X*r.f;Ir*,*f

ti

I
I

I
:

i
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c(t) = -L j*/1 u,,,
'i

ll trt

i.

:.. r

At

4.
(

-.

,o"

7)s.

I ,=',

T,I

('

{,
t
B

,..,

'

;l

*hr Itrnputlr

t,

(:
(.
{

C[q)=

t:.'

(or]

sltrb{r

{':

E)

';f
C

{.

,f

'

l+sr,.1S

(Ce)

L _,l 1/r
= 6
st

"' c(t).= q t; ,r,tf :f

"

]",T"-

4oro Stof, Rcponse

=.J
flcorrsfd*inq inilfalcondn,o

tlr"ot, stqtt {r-orrsnnt

Ruponrt

r\
fJ

vcr-LLrr.

r;nstobtt).

por.[rn] jrcrtifgn".

Rrsf;;ii.

8g

".

s
&i

fn,t,o.{.

.',=

a sH{(m is tt0T a,bsotut\ int,-g'oble

uNor
syst(rn -,3 consfdeyed to bt
sfaslt'' Crt rnot b. tlorqino$

"l ;rilyi

{.:
s"

:r'lttfdivo-Ltrt

c(t): 0,3.J
= 3i'/n {

{",

-t

(ss) ;,;;;

,Htrt..al,lo c{rc'--

r[02e.

g"f if

sR I stu1q,rh (sloo)i

tt,.s;

a tong{nt. it

tr_rirt givt

,JnoJ.t b:.;. I in trmr r

buf its taking Do rlfrnr to Icoth 1 i.
Sqsftrn

.fl ..1(rt?lirfi ( s[or^i),

qz/

for

Strt Resforsr, {o bc stobte

systrm
fl or. 4ilf trtnt c""rctiffoyr
{norn IR .
.ftr
flu, .rtobdti+X
.

Btno

bt

sctffr{r.rd

c0a6[h

l.cr.

[fr* rq".lrnr .rl ,tqlle]

tSU fi.g*11

1dt"

,o

sof,

I
I

lo'/"

ffi

l-

,Gi''Trni.eonstont'Lfrr', fc{tctllt ffm, (ontt -fl' *ht tl(rntlek'n bg ktifortt

{a kdse {rorn 0 to loo"/o 4 'Fht ffnal rotrtt
3ut dlrr to stuXqfs?-r brho-r.rt'our thr stuponrt oe{n rco,h *o on\ &%

-{ tfie -ffrU r&[r-t tn prattfct,

(ii) Petay tdme (ta)+ Tihrt fqk,n bq Repfonr< to

the iffno-l Ya[ue '

Ort t= t4 + e(t) =

5o"lo

J. ;ta/r = '::

rtrre {ro"n oto5o7o

"l

S /Cnol ra-tut

-.tcl/-r

':-

e
td
td

0.5

{,t

= ,tn(z) r f,

tlt,,

o, 6,lS f

/1.

G,". lfsr tfmt ttr),- l-frn, lok,n bq *hr htsfonce *orfst -Jrorn tor/slo go7'
q th. -J'Cn"-o vettre.
dtt 'u= tr ,*5:*) = to/. I -finctJ rct[ut
l-e "" j o.lx.l

tr = o.LT

flr t= t: =) ctt) : 9o% x

l-e-t'/T: 0,9
=) t;= ?,37
fo, $irtn locu f au Re ckt
I

-/

t^--,

drRc
,
.- ''T'-|.

RC=

d.,t x

tr=

:r2!t!a^

Bto

t*, tr;

ol

sfftd cf

iij:i)

[',: i

d n(gw)
*
o'35

tr =
.t

t'r = t, ._t,
a'
- ,*
I" ,ltr = r.l fJ

r::"''t::"'t-t':''';:--''r!':;':

ftrrponr,cf

-fo

N0(n
oo

shoujd

fj

Buj

tht 'sPt(c{ {

[ncreac,

ctecrtasee[,

be

-,

T-.1,

BLd

B'u) ol

4.

1'

Nodsr

.". r{ BuJ l=t Stl-trt

{

*),lnel
Htncr (ontrol

, tr onc{ tc{ hcrue to bexc{rrrrd

Rerponrc

stJrtr*

ur

ith

CS ts not

n,ofse o'n C0^0\l01 'l

s

qcitm

^a-e(ioble,

[,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.
t = + c(t) = too!, x, t
,.1+

'i-s

LLL

-ts/r

1-p

or
OT *

-tT
Ll

CInq

sustrm-,

o,/"
06 "/.

.-+

'

3r

-?
5I :+

4
J.

nl
r'
^
b3/j

'

+T

9g Y.

.--:

frtoF^

a"/. l= b
2"/o
L.

I tt4
99'.: 'f -> x Lol. ,)

rt a,p,rcL on \o\uonte\
l +t',ot r,-rhirh k hou, to t

pratt&t) f

.,
coT

-)

-ts

loo"/.

*>

u, to.ken

o "/"

ts
6tob t Gt

stobitfq

atio te.hr

lttatrvt stabtUt1

I gstlms

e-at u tt.)
t

--+ f=

Ia

-L

U+4yL

+h,

I
Polt

-+ Mon -vq the pott mox c{obittrx

Iut ts

-+ -l

da crectt

tg

ts ur.l
stobirirH

y.f

Also

C,

-#

pote

"i.r,. i,f -ye fetctbork

: -l
*lhen

'@

0ppUcd.

il

E.=
l*G H

'#

=> f$ a

sr2

-+

polr

@+ Thtu stouttftil tu.

dttt'io -Yr f<r dbork

rec,,htr fo Steo% stak

sustern

y+ o.

-t

rgstrrn douvlel

-+ Thtn

sttretrrn

n Skbtt

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 -Sra

Scct)

= @*

tv
:

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

valrtr .o, Sqrttrn n Unc[q611

/r\

t' fgg*.state
,,s-D
Cffirrn

.stalt

ttor Cesc). ' ,Sir.B stak (yro(

"

ce blw

the

ttftrrnlt t/p { fhr

i:

ct{t

ConttoLrecl

r,o,( as' +hr

'l
o1p

-.J,n +h,

.
"{ 0 s gstrn
[t)=]rtt) -ettl . --. s'rto'r function

b,h oLliowr

ss

-tfm ett)

t+'o

* . - $eoQ
*

s\ote (tlrct

: {fm e_tlr q it)

(ss=

ar

{0, .th, df'st otdtr sqsttrn

+hc( ur h*, rorr'rrdt'td [.frrs+tl

iv

= utt)* LC,_.-tir, utt)j

-ufi t r-t/T uru
"ry| t-+

eLl)

esc

-4ccul at
o
oo

d]tcrd1

l.upo,rur)