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z (t) = Az (t) + Bu (t), z (0) = z 0, (2.51)
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e (t) = P (t) y (t), (2.36)
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i = 1, N, ti = iv, t 0 = 0, T = Nv, (2.54)
p (ti) = Cz (ti), (2.55)
Dp 1(ti) £ b (ti- 1), (2.57)
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Du (ti) £ b (ti-1). (2.61)
e (ti) = p (ti) y (ti), (2.62)
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(2.52) (2.58) , P (T) (2.53) (2.54) (2.55).
P (T) = a0 z (0) + a1 p 1(0) + a2 p 1(2) + + a N -1 p 1(N -2) + a N p 1(N -1), (2.64)
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6 p1 + 5 p2 + 4 p3 + 3 p4 £ 110 (3)
4 p1 + 6 p2 + 10 p3 + 13 p4 £ 100 (4)
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