Control Systems Analysis
Control Systems Analysis
,r{t)
, ,,t...
,41----
0-+-----;;>-t
,r(t)
A A/5
~iep
1(5
"t 5 f ff
Ll""Yll .1.. A(sv
~7Ylp 4-l-
~ -t
3'/~v
t<o-rnp
L-l"n rt i_
~
,,
,1· :,;
~f
J ·~
-t: - T ~- 1 ~ -(" i ·/ 1 ~
«
I-
r·1'~!
, e
c-'-'l'tl1
~
t
I ·
I ' e-
l~e
., I -~'
I
1.
I
...
<
~
t
b•<w~
()
~ 0 ,r, 3 ')
0 •9\·
,,/· ,,~l/1( II
a. t
(( ,-()
i:o-n (
, u-H
-'>◄ :-..'>r pt,n tftJ f'f"YV).c/':-ttVtrJ
•IL
1"1 -+ {l? - j)
•n· ·:.ir
,- _:: ,,u,..,.. ,
, '51 :
,,. _ - ,I''10.-,,
oi
t,.1.,,
Q-l'td. ·£f.e ~/,;fr,.n t's undov,,Vti-
c-r, -,It/-_, 1
H~~,e, ·,aofj
'1
• f ... p·'-/
t ~~Y
'
~: ("I • rt i ,, • ~l "0 ,J .3 , .5i :: -wn , S • ~ .u,..,, t'W-,, , -t hr ·tOOil o,._.
-\ ~ -&'i" -- c-e·'5 · :- 0 •19 . c,•,
f;,,:.. , ()<'. • :: \_1-e
~
.- ' ' . '-
=:::- J_ 'l:>
LO-,
(S +tD...) a-
- <Ont , ...,, _
l [ e"""' 1 ) - '
,.,< -1.
j_ - 5 - ~GWr, 1- ~ yco.-,·U cC-t) = i. - e-u.,n - -t e · '-4,rYl
CC~)= ---t ~ 6-
;,s s"+ :2 ytOnS-\-lu-1V sS;1-0r
-m~ '!1-t ~ - --,,........;:-.- -'5
r
c(osetl Coop ,-,,d o>d c-<• '-""d"mpe,:I _ S'jSlf',n
~ Q t.or-i +s
- ..1.. cU) = .1. - co.swT"TT· -fO.,. u -,,,{ 5-Hf' -responf>e
- S - (S-\- (stDn) ~--- cfon....
- .A_ (~4(.v'l-+6) . ,. . cc-t):: 4 (,±- cosc.on·O -f-O"Y s+ep ,yespons e
- O (.5-t q~ f -+
t-t!Jn"C1
-4 "--J 4 foy cfo:sed [.cop ,nd ordeY undhdo.n;,ed ,:s,rgtern i ~
' { Ct)::: j_ - e~<,tDni:-Cos cDdt - - ~ e - ~ ~'1r,lud "t - >units-tep
tu k· i 1
u:JJ == c;.!)n,-h_-q,.,__ ;,) ~1----= l.c>n'"l :t- 4"? ~
.:1.. Cec.tc.&>+-S) _, ' L( e· q ~,.n a{
' :: i - e-(jc.0"t- c.5tnCc4; t--te) 1
1
q:; z: -f: arY' ( ~ )
~ s- (s + qeonj+ W d'-- vt7--- . 1
- A. .; s+ yt.0"-t ~U)o ~
cCt)-z. Al[!- e - ~c.on+ ]S~Yl~ ..p+-eil =) .S~ ,res_pe-ns-e ·
- -5 ( 5t- i'.fc.On) '-+- tLJ4' 1.-
-
- ~ t -J',-q~
fi)y d osect Coop :1ndo-rde 1 c_-t7-tfcQ11ij"cbmpe_? &as f;-el'Vl ~
I ', _ ....!.. _ 6 ~l.Of"I - _ <;rton l.v& ~
- C
6 (?+cilOll]v+wi' ~
~+G~) ~!A#\f)d~
c ct) =- .i - e_u'.)" t_ t- e-LD"'t: c.o,., -[01 un-;'t" st-e..p reip7'(1 se
I I
= .1 - e -t.0n .,_ Cj_+ w,.,tJ
c C-t).:. ~ - e~<'.:6f Wd t - '(jcon e ~o.\-g\n
t-</d, i ·cc+) .z. A-[r -e~,,t-c1+t.0,iri} f'OY Btep rr e..rpo-r,.'le
c9' .1 - e-<;wnt-ee>Sc.Odt - 4lDn
~
e ~. ~:;:, 1-0'Y c[o-,ed(oop ~" d o-rd el' o+\Yd.c-rnped s1us tt"l'Yl rs
;'-.::'~. l re z:Qi.) '2esD"mS'e.. n.t c,f tfcc, UCJ d()..!y"':,,od ~n=, o-,s
cc{;) -
-
c~ ~~i -
.i. -
;;_~ 51 C,5' e- s ....
$1.- -":;) _fOY L.J.')')li; Sl-ep
j " ?'~°ie
\J -c:.J - l ~,d_ ::- - -:.) ~
~ ....L ( et - C +.j .-:c),fD'Y S't-~ p n-.spzm s-e
£
_,.{) The... ~ nd o\ de,{ . -c 1.osed ~op t,-a,1.s'f~y tf"l cC{) - A[I -
'/J.J'ct- 1 SI S) 5 .,_
cCS) c,.y,._. 5 <: lf~- c.~nv'y.,._J· yl..On +Wr,VC/''- J
1 5, :::
QC.!) = ~""::29eoris;- Wn/\, • fl.CS):: "t 1
Lr_~ •·
"
\.
t .....,:C~ ' -
l'f'('J,r,n, l'
~- '
<"f
~
("l':::_"l r l "'"'v"\Pf d
• s
.:i"~ 0 ~ 'oi Lrn',
J ,I.
[< )
. ., ~\.,. I
17 i~e clcY'flfl~r.. s_'f;f'cf.f7cb.(i%~
~
-
~ "-'<pllm e ~
1I • ~-
<- q.., 1>:
'
I
, . r .1~~-.1"·rt·) ..ru·nd\ m--,
"7•H "\ ..... "I . l
c, f cCC\~eJ I ~ .?"cl O"l'c\e'., .,.
• ''-Jf:>i_e
7 I,,_ Men. [ u nl'.t S ,t r(:I) :c ( < -!
: Df C't"-"'1s,~1~S,-- q t0..,,., :L t.0nJc,i--- , "'1 D
'T'ie "''IJ'O'l« "-f un>t 6fep \.o tLD
b u>id,;:J,,"ll</,.uc.1
·Hr~r , s 1 ~ - S i,. co\) - 5 1 , s,. _ -Sb <..o"} )-~'2. ot. ~ L .i
1
1 '"Yl '1:1.se ,
5 : ~tt°'.'>1. + L<..")n'\f(r'"- I S '- •- \JLO-n + Won.-iG."-\ t C-t)
1
.:t.i:!>,,-,""' W-1>)
• a. ffoulable e'\'1 Cf/
T[s) .: : ~ - f . ~'l.~ ) s--1.
12Cs') - ~---5,) (S-S1.-') t
' C.On
'-'
•
B "t-::--
~ ::t:=+---..
A C.
{CS) ::. 6 f:-S, 'i(~-S-) i:, (:S-S1) (6_-S._J
~
A ( 5-51; ( S~.,__')-{ ICJ(S')C$-sw+C's(5-'5 ,J :::- Wf\'-
5~ : ) A (S1'5'l--) = l-Dn._. •J ~ e ~ e\ell iM,, , -!-d • •s, de l<1~ n,.,.,., h- 1'
A -=- ~
'1..-
')--~ 5e_, -Bme Q.hd "P i'3 peqlc. i-,ry,e aryl Tf'l? r~ ~
S,5-i.-- OIJC.YSf-tcot-Cl-y\d ·h y~ .Settli~ n>')"I.~
t.Or-i.....
s -:: s, =) 8 s, Cs, -s.) z. w,t'
-:::-) ~ .:.J. 5iCs,~~~
s ~ s... c.. si.c ei;:s,) ==- wn'
· ~"1 "!be ~) , .:r:1- r, the """ to.., -fo,; '"'1""""
=)
0 c.. ~ t.<)")..'-
to .,mch ~50• /. o I- 1he f;"" l ""'""'- -fo-,-• tn, v,, '/-
:h..(Sl--S,) ~-I:- tln-e ' ~
- .. " "-'.
<-V'(\ u0n"-"
_-'....:._ _ _ + .'"""'0
·" '- 4-
c ~) <-- Sj_S'l.-$ -+s,C.S,-S1.-)(S--'S1J 5.-(&-Si)Cs-:-Si....) p;) Rr~ B "'" ~,): - l 1- rs if"" e '-ta..,., fo T '"P""'"- CD
~ . 1-Yfse. +-a-c'Jl'Yl O fo J.off/. -for Uie Ye,-,4 .st- iin,e . ,-_r
~ l V I • I-(.)
C CS) ::. r 1, _, I u.:,I")
'5- ~ \/ ~'"- \ 5 1 (S~S,) t- ~ u.>'ld~ckm-p~ S~s+erv1.. the... ~se. ..gl"lfle. fs c.a~ulo.t-ed
f"lr, ~ - · llut O"",clo"'Jl,,ci S~sk,n , 1t- 1\
C.Cs") ::. -l - Lb-n [ 1 -
1
7 ·1
.S ~{ ~~-, S 1 ($+S,) 51...Csts;) j ~e t\= -hl•eo bi The >e.s,o,,,. -to -.., ,r,, -f,""1
e. C-l)-z. 1.- ~t - --5 .. . ~J ~ - , Fi,~ rrlt'feo.l do"'f«'1 B-,ste-.. 7;- ts tf.e_
~~
~v-, [
151
e__
$t.- +l"YY)e ia.~r, -fO\ iejpon,;-t. tn "Yhe.-hmt ~
t(~f-1
- ~ me lj;1,'), - '.It f,
•> 1'~ ~h,c ~e. h 1<,r, f o, ,.,,!'Or>
1 fi
~
M)Y u.:nit- s--ttf '¥e~~ cC~).:.. 1- ~~
-/;o 'l"fs~ the r:,a k VG\ Cue -t~ ve.1d ,st- thne co'Y) 1-t fs.
'" - l) -the. ~ ta~n -fo1 "l't_sy,onst.. to ·n:'.o..Ch. the 'feQ.lc...
foy i;ttep ,esf'OY'se. cCi)=- -!!cl~-~ ~t'
'.'. .1. t" " u., r") ove. shoot l"'-y)
,,.~ Vea.le'.- t)ve-.sf-cit1t__(M..~:- il-- rs dcirnea o.s the 'YoJ:f~ Of
:; - - _r4~in -the. fi'ro.t vo.lu.e.) I.One~ ihe
we
"'fY\Q')(_
,
1= 1«i<-- "<~ ' · • -
~o.\-:: vo..\ue is ~0-SL1-ied -f10"TYl 1rno..l '\CQA ,\
"\ . \·
_ cCtr)- CCGO)
'
•r. M.p::. 'C(fy)-((bO;)(.too '
t-1p - C(oo) . CC't><>)
<1 o{,\'''J "f~r ct.~): ~
- i:-1 "1,)
,, ~l
:: 0
~,
,1 t~ <~~--:,ned ~ ~II IF'
t1 · t-i •1:ic; ·t, ,~r,n 1"-J I ht> •~c~f )("ln'l.' La { -.:, tp
?r.,'\t"f-1 '"' nd . S tn ~ ,,1iH1i,,- ri. ~ -r,•frc cnoY (cry) 'i"fn;',il cl ' e~~1.o,,\p
n'l N • .:rt ii u .sued ItJ r itpi.<-':i ;( d m ft/. of ti Y\('\ r 'Vt) lue. -0·l.[.1.- ~ .s i-,,(,,~Ho)7. :.o
. '"' f' . '.J
'e"\1h( '(C'(t"'idr"'tre (('l"l') lo fC'> t'\b(c. (""l")O)
~
IS ~"Iv (O'Y') s·1.. elf. ..
t~e ~i-nq ( vo.[ua I
I - •
·
-' - •
- j e· ~co,,, Lr . -@ Y"'°" ~rJt
~ c.o:,(eu;1,tD) {wo) t. S~T\(£iJ1,1Hf)) ( f<»1CJ.~:t
f"~p.,~1101"\S ·fo"I'· f,..~e dcrTY\.o.{O'\.. ~cfH"d,tfcn--i.s ;. I
e~1se -v,_~~ 0)) ~- • '{ I •I.,
\
• L
-e-lt.On-\~ cud -co~C1M1t,rl- o) e.-~tO,,r! 6h1(r.Jd-t-fe).~.:o
- . -- i ((
T1 C''YY'I • 'ihe ·1.cYl'.i"t S -l.€p ,~s ppnse. O>f
~ • • I ~"'~
tJ 'Y'\'.:ie') d~mJ:ed ca.se. , _ ef!A).,,l,r .;...
(
-<J<,O~~ I ~ l1..vd co~fc.Je1¼,-te)..., Si"T'l(c.u., l;,1eJl -=O
~~~-
I
CC-L) :::. j - e .sln(t.v~t-+B) 10=-i-Cll'\-I ~
~.,,,. J•'(\ti
lrlr t '.:.:'. +r => cCb-) ::. i... -f"l'DYVl undeYdamped c..,. ' tp te)
cruCtDdtp1eY.; Sm(Ci.)d =-
0
~ ·
wn.e-re 0 -::0 1 TT , UT J - -
g~~dcoc.,Cc.uc1.ip-te) =- tS1n(~-\:p~.e)
~tY
,, cct-.,) = ..i- e____ (s',nCCDc;-\:....-+~)J
1-(r" \J'°"-f.0e
I =- I, -;\ ta-..(~. iJ> -t_E>,\ IX.!.
e
gCU1'1l<
si'nCt41i-rl-'OJ ~ o
-t-crY\(C.Qit -H)J ';:. .+wJ
I p ,,~tD-.<.
.. J
-Jr-ct"' -~tO.,.. tp
e 9u,""" -w =f: v · -:0 6 ,"l")(citd:-"1'-\: 9") "'o ~-t c.on e-r.--:-. •. [ ~ sirt{u'.)d t+e)-Vt-~"tos(u),i t-te)J
S1'-n(t.1..~,rt..-r 6) .::,-5 \-n \l' -~u) tp .. 17
-!::; (A).,,\.e Tl [ .s, nCwd G,-t a) cm.e· - sine l.fll(Wd tj.-t 8 4.J
, . n-e ,If(-~"
C-<)d ""t-l + e :;:: 1T -== J t-r ::. ~
t.une-~~.,t.p . 1
( S1 Y\W<i t,.J ~~
1l-0
+.:r.:.:
,.
w4' I•
Si"f\LOd'G' ==o
I >( i_ I
' SiY\ Wcdp::: .S\"'Y11f
(D Y%>,t< t'i,-me (-lf)
l '2- -rr
~.P -;:_ -u.'.l:I ,
Rfottt. ~,,,d order- dosed Coop 6tJ,sleM 1 '
-y~
I tv-1-'11- ~ \.,]
+r:::.. 1T
(I '
cc1Y ::. ' .i- e 1 f>;y'\(cf)d He)
-rr-r.t ·'
- ~ abov,e.. e.~()'J'"'Q-~fs+\cs, 1;.e,,,
' • I
LlY1.d01idO-~d 1I( tDr•t',•,1 -t'
,·
. • •' . . . ;J":.':.
tJ ==--~
d~ti~L '- w.i ) ,
ca.,1 f?::.cu<.... Dv'~~ hoot
1
~ ( Mr):
{'9 Sf't},e<JX"'''
!;lo )._
l~~ -(n'Y'R ~ c~
l
ho-rvi_ ~.,,,_cl dl~k. h, oJ
:
'1" d o,,Je, s~ste"" hovl"'-'t
ve lr-'.lect Coop ,
1 - ~flt
("(t-.) -::- t- e C,w'r\-t
l s, n. e ::t ..J!(:Jif· )
~V I-~
wsg == 1 g ,
V
S l r, t'C4:, t -l 9) 1
r, t,1p c ~-t
1:r';1,n6·,.,lc.~J-i +e)
1:fi~ cos e .-,_p t e= -reduce
!=
✓i-(i ~.,
-if,e os cfCU,. tian,
•/. N'lp = c ~ !X..!C o . JICcl u,ed e,,, 6 ;e.,,usof'1<> ! ,,,,.,,,_por""t · tt,-n ee se:t+C;"'i}-
, CCa,o)
-to ~,,.:, ,s c;Jecfde'? b~ e-xp com~nt--·
be +•""cl om,t-
t.Coo) =- .1..- ..!!:.._ ~1-n(tudl-t e) ,.,
~ .
.1-0' ~ .1 1he se-ttif""J .;""' c•""
e"l{J Cet'YlJ'!'ft'°nt --to •f, -t-o (~_o.-ri.c e erra-r-5 -
"d <q01b""f-'
H
C Coo)-:::. 1.
""' "Foo' ~r(. -to (.e,--a"Ylce erto r 6a ,,-,.ol o.. t- -t- :::; t-s ' -I
,· -g w'\'\-t-p I
CCt-p) = 14 · -:- .e ~ , 61-nCCl'.bt-1
,
• i. t: <j<lHIT -::. o,o:2.
if•
-+-9) ✓,-~..,.
f- 6 ' .,. I. .
•M+~ !~ ¥'~ I ~, fo-t leo.sr <{a[u.e- ~f- y fs ~.._gwn.t ~o·O:J...
,:: ..1 •- e-:r co-ri,i.Jd
. r. 11
w~ 103 on bDfA 6~
1· · , I
SIY1 (o.Jd .n_;,+
Wd e .
•
J \OJ Ce-(j<L),nt ~ ) , ~g (~oi.) I.I
~'- I
~<01\ -k ;:: - 3. 9"1
~
· 1 I
J. _ e- 9~~ • SiY1{TTt~tJ ''n J
....
4
L I I I ) - ' ) •: ., •' '(1 -.c.r'\., ,,, J ~ -:::--) -h ::- ~Lu-y\.
~
' 1• ·.,.
:-:,1' J._ "+
e-~c.On ~
.l . ·8•YI B ~ ~
-iF-F i ~ i' • ' '
let T:::: -t,--m.e ~ t .::;: -ls U,-,,t_
e- Cjl.Onl7/4a,.,, ~
:: 1 t-
- Hf' •.sme
\
h::: T 4T
;,) ~ .:..llT]
,n-~v L~T ,, ,1
(Clp).: .i -t ie -#r;
1-{j'"' . 5lYJ(9
(°) -, Ir ' .foY ·IS enar Of 6ett(r'-n.1 ti-ml'.'... ~ ==
_L
0-, Cf
~v 1
[-b :c3T /
e-Cf 17/Ji:f~
·/, MP = i.. + ~v 6iriB _ .:L >f.J.OD I i•"'t
II ~
I f~j l ~ .\ f, · ' rn
. e- q,n-/1-'q" . ,,.
•(. t,11
p;:.
-- si-nE) ,oao. 'l I'" - -- -
~~ - ·t ·· ~-~ '!"_J- ·®
' \ L. I _, •••
-- ,,. -
<
"·
.~'
-~1
((),I, )',•
\l - 9Y\.\ f I ,·1') , )-hr,-,
~.::19" ~f '£', ~Po, ':1 D c"':.boticrJ
.....
r;,- co"'2_¼,.!l' r : C'P'l().f>O,t(,,,_,,. h ,C('n /,q rfr, ) 61 LI) :.'. ~
:Jv-+-'J. yt.0(1',
I -n feectbo.c(c CDni, oC 8\fs t,, "'> , ""1ht,(&,
I u
0
.._,,dff<f "ffle fno, sfr-,1 <>>tel 4,, c,ct,fe\,e Gi (y
lftcs)
6',n/,n[ W-tiq-,, . conhocr,,, wfrt 7>\0cl;j,~ ''the ~
J ,__
cC5)
----
RC))
~s)
:: r+Gt ) ✓ r.tJJfl
'Y~se. 0-'Vd -t-ne SteM d .s~te ~nr Of. ih~- -1- ' ..s-r~\f )
.; <h<c :p,cpcn ffC>nn. l c ""™'roe, p,s,,cl,,c,s on oq,
✓
~~ ....l..,.\(s~~(jl,-h'
r:'-:iJ
r+ [ i-1-
""''ich !s p,of'<»ifcn<,[ 'Ip eno, sfr"'-(: .
1-+ T,' .5.) wn v-
""Tm1\5;ft'Y c£n. <>f P-eon1m1r,-, , -"Cl ,ak, • "'" ,.,. l(p (
I i f-() ) •fi ~ c.<-+-2-!f'(>s}tD-tns)i,.,v,""
tyaTlStt_y -fri... tl:f P'mJO'ri-i"'0n.et t C~'ml/lt"~-
,,l Jr p - eon trot,,,.,. l's ""' tr<'d. 1,,._ -~
i
"F- h -: l kJ1/Ti) C If T( -5 ')
-tlence -the_ p centr0 a,_~ anplff'oe.s 'the_ "':m' I 8•• (~ p
t7'C'Yense "the_ i_oop ~ ~f ~ ei~s,,..... v
"" 0 """""'
I~ve'Nvii : .. ; ~
~; ;.,~-stdw 1nip.,,e -!Yack';y,i =--,,~, ~ s" + : 'J c.o,., 6~ l<p ior{-t I-< Pw,,V
::: __:0 Cl f ,;'s) ~ _
TT
s~~t refet:ti"en., -n:la~ ve. 6ta.b"l 1t"Cj· .. · · J .,..
<!' -I.I.A. · · o.c lfo"f-t •S that:-
6-t-'G~-+ 1<p10->"s-i-1c.rll½""
_, -n_ cb-cx.u 6ac le. 7-n p-con oo
, 1.} tld
H""1 -tf,< ctose.,L c,,,p -,o offffV" th<. Pi ccrnt,o [.ta Of
ptflf-e .- erfQ'T
~
-:J mt', I .
o. CtmQ!q'T'lt Stm#~,l , , - • · ;.,, tf>< O'jS~ o-ncJ 'mcY"'' 1;he., en ,d "' of sif6\<,,,
·, , ~:r.m,-
ces -
,,11,e0 t.,,,.,,,,., ro th'- dYdei s<t5te<O ,.,-,g,Ci r.,., "
-th~
]if "''ect- Of I;_ c°!'bo£''ef_t • "'.'' ~ l ! n stv- b'< s '<f5 t'no , -t,,m <ne D,lf L dosed-- lo<>p '!1=
\.,tr ... .... ,. ·fP ~n -ra'C c,n LBS
"Tf. > fh?)D(\ rttO'YlO.
,p L t>[LLS - r-ni.- i::"'l
11-
be°'"'~ kf,feY o.,,J_,-, S<jSJem M'- (ess sW.b 1e
"J'i'm
1 ne. J"" -~IJ - } !"..-.k . f'\.2. .~ -te?-rrns) ..
!'.>n Np Gf~
not cr;noco "" ' '( -l ' [ol,t) e. rf (!)'6.eY 6 <cl.stern • ,·J r.v"1J1,, t·J
~
-l,\.-aYl
~
r sf'r"'-t .
Ir
\.,., p'1ff'm"-rtfort~C
-I["-' to e:no il
..u\ the
1
,th[l_ erro, -sfi
'--'11" . Eff~cb ~ P~ ..cD!:'h-o ~Ler ·• - , . ,..,.,-,,.
rL+
~ ~
,,., 'Tl , rolnia.l LU . k .
The p,oJl'91-lrf'm-o.C ptu.5 c;Wtfva -!5ve ..em-rho! tn
Cbn hv l ier ,;> li,,C sh !' f
l', .., QflJ
.:c)T..,,.ansh~Y fY'l * 1'.:r. ,, . -1< r,.~
6+t
,,
o-o • rr sfff"-" L sr' s '=
•<f -t,,,"' s ' . . . pr«ll'c,J
tuhe'fe, · Kp ➔ PY"~~
-rtfO'l'\lX.l ~au, - P L r,..s ""' J''Y D_pe'I b°bncl L to e_"t70-f ~
,i., -P.,..,..,,n.J
-0' - -- J . ' . ,' ~lr:r-; "Ji .~. . ' ' 'I
'j.
Tl\.t u _!1 J)rorm h1'J'1Q L CCS, d.&cJ
, o.. tr' w. Df-- e -r"fti. '•~tL •. ' \1 11
i l
T
•➔
.. J.. ·1-
11l1~ ~- I )
.) T,ya"l'l Sfn -f-fl Orf 'Po an-ho/1~1' " rl\ · •l yI''). , 1 ~[ • ..
"'h, ,c_ kp -, , • ':' /;"' "lip1 CI+ Ti!;)
t ---~-~~:_-_-_~:~---_-_ {'Cs hom c'- _J, 'P7op<,'tJo-n..i::\.l
a
qa_.iyt... T,. ➔ ·~ , 1
, , . v- c!'t1Va1've.
.>'!·,11.' ";-/1
.
lO';c::c., Coo
f .PD om,t-,o l(ey ' {(SJ' ':Ir ..,', ) . ttme,
.
.trl' ~ dl Ae_y ope-n f.a;p
. !f,
s'd~i:en'l +rari. 5,fey -J .,,_ , R~) 'l.f"
,1"- 1"· :1~f'
c,O~)Gf1) 't..)( '''t { .... ._ ·)) H,r ,rrrrnff'rt"td. P{~fl'l'i ✓.f .o,t le) :,t}tt ,., ( '1f, k: ,ko)
I I f;l ••(~ . !'\ \.
tlStt.1"~
J ,m , t 'YlM be Jt."'11c,L 6,d JJ~ <PcJ.c..v vt~» ·
:: ~
-5 <· ~ s(,,_"½_,l}t~,....~
. l ,b G"1
~ , ·( {11;·,\ JJ-~ , 11Sp~e .of :..t:n.fi,J -J eet:ibaf..J<.. >6Lf5t c~M
"t. lk,r,(11 l:o~)l()"''"t~" ,- ,_,•1•!'0~ ,("{JM. 1.U:f'
.JM;.,?'1.J.f&. 'f~ lit Cs};: GCi;s-; Z 1.1?~Pl"1.
~ - _,. ...... ~~ ➔ :,~to,,.1. II ,c Jj p u-ru.t· / ~J
JJ,
s ~ \ f 1 ~p\)c.-:," .__
~t-~~
~ ,s)to,,"' !e~ : }''~)_ ,P!J):cf ~1$,?~-:e~JJ > cCl)
1(- fH 1
.....
s "' 2-~'l,.,,s 'i ~r(:11 ill)~~
..
'
(s,:
m¾n \J ~~L~------
~ ~kP·to
-~~~
l f'Cs)
. I ~,... ~ , '-4 ,.4
:: $C..Wr)
-==») . ·~
... ,r,..) .1.. LI : ( ·~'t · ll)
' ~),~ C'w -;. 7; . ,sC(.-t. r)-t l/ ~ .S -t S"S-+
•
- k-:p<o"\,+ kds~" • . " e -{...L
~ . . i: 1,-t· 6+T° ,sf-(J .
5 +~~Un~ -t •.kp~.,".-+.l(d~v
.
t1 :- /)(~-t1)(Hu)+ f35{~,ft.1)+n($-tl.')
~ow-, tl,-e / C ("' i <? cl foq, ~ I 5'n <>f "• 6 ~ - .1 ( ~ =- '-t
U rs
obs,,yyed <th,c l'o <~11& ,;,,lib.lu .S: t'.'
£I {"l\ ti
c ) -) ~
- r, C .1 (
/ - e£j):- 4
.
. LJ -:.
r,:-::-:1
c c-u)C-1)
h,. 1h. ~km. l,_ ihe ~ . . , t~J~<; )8= --41 f-~
~)l'h£ <>&iT~ 'fht:, <ex, rtla.) ~ r...,,.._,, {.(l) ;:. ~ - .:!,__
.S 3(~-tl)
-+ __!,_
,3(S-t4)
D v e ~ ~ · ~d.~ce.1 1bl.. -rf'se ii9T°l'\e
( cn . . [j _ ~ e - i- --4- ~ e- 4 t-) u. L-l) "'
£fft:;cl-·
?
nc
-4..
Pio "2.. ·
C~frolfe\
. .,., 1.
~ ~.f.,-uJ. IW?.. ?-U,cpcnse.· 4 sei"': ~fsl"tt J.S cct.:) ;::
,he_ .SU~-½nJb(e. c.o-n,,6n10.&,n. 0-f. ~ hoslc O• !l e-,t-1,~e-10t- .~hen .. {p r~, .S'it:p f'Yl. -ft)) c(o>ec,
-
j 't I
:.... PYq:>oH"f0na.f 10 C' f h i:1n~fe\ f Y\. • fflc,{ cktt"Yrn,rt{. UY'!dD. ~d. "t\a.Lu.\9,l
l 1./ .1-n-fe<:nn. I ffh~-'l),1-ll\ctt 0"10- c/.o..fYl(>'<·,i ..,..-ci+fD ,
J:'., J~)N',Q-\ive.
•
V - ......._
, ~ 'M'll'lTnOVE-,
· r· ({i) ::. J + D • ~e-~- 1-.?e-lO 1:-
><Jsk.M. ~ <'e, . ~
1 ,
~tf}td .;41te CCS)-:... -1..... t 0•2- - - -1-1.. - -
s S-HO. 5-ttD
~•
. ~., •,;;:;'• ~~ ~•
z~t-.!~ .l'F''"'~· '· ht l'-' At.d.uce. <.llJ;
cCs):.... {~~5-HoH o.~ (,5+10)-1,1-~(J~(o)
7 $CSt ~)S-t1t))
4' it?nR.01 ..C.On..viO
~
I IP)
~ ~ v
~ t-t10=,f60~-f GD0tO H , -tl.S-/•2.~ -:,2-5
9 Th£~ i ~-- • . im
. ,,. ~ k
"1k ·-'-•~-~:b,,,e. ! l h£d,.,n: S ( .S'"·t Co) ( Si / o )
-~.)1N2... ~
\ I • '
•,'• - ,. : . ~r-t
-- ~ •,dtf,,
:,o.s ·t O 'L-)~-/ .n"--=ro:S-t~oo
~~ 5<'f ·t -1 n 5--{ co J o
~
-~
V\
•(\
--.!:!
4") ~ ~
ch
!! ( '-J
<+- ~{ ~ ti
rl-
-< t ~
ff 0\
(}
fr I•
11
~ "
I:. ~
ti {J
()
~
1: I } ~
.
0
- 6-' (1'
t'.
~Ia,
"{'\
t"
.t
.r ,,...
~
It ,, , I'
0
• f f
-0
I
~
-o
J•· I C.
,. { r, · "~
-1, 1·,-j l)H, ) rl (CW)/ 'I 11,1•) :; 4 ,,,
'\ t .. , .. ., lf
,.,,.'... If,,, ~l frtt J"I • ( 0• i I \f;•I~)
lj, "-°'- ' (~ v('I . \ v t~.. O"•i
• - . - :: k_.
I C,
,c. r r ----:J
o • ·1
f( : 1..
Tls) :: ~",t-4S, I/.
. I
CC!>) :: T (S) • R(f) -:: --:-:--1L _' ...L_
6"+4Stt{, S
_ •.'.AL+ ,Bs i C
- .s
' ' $'+LtS-l-1.{,
,A ff-tus~ tt}-l- ts"' -+C.s::: q, I'
' '
1
f ' .• r I · -•
,S~o -=)~ lf>-A ~tr. .:::)~
I
~IA-+c.1)::, 0, .:::-) j C..::--~
• .:.1...~ s 14 · L _ §..t_2--:(.w ,
~
C: 1
C. £> ;: 6 ~"+4H((;. ) ;:. ~Z:),...~.ll-
-;__ ..!_ s* &-+~ _, - S,;t 2-- -
' s~, ·~<?+~4 l-2- i-=--- 6 "' (§+z..)' +n-- ~
, ' . ' 'I
~d s~~ e ~ •, r F-Jon, tl1. \L~ f)'Ydet
IS'a f;·1-c.M.
G<C~)
-t
) '~
r,::.~; -1. pD
: ft
('(-l)
s.
,J -
['I :> · ( <, "')
) (''1
( >(', ')
tTr-;-r-,) HC"7)
oa _
a.-rui "tk 6
k.C:itz,)fs+i,)
''.J Fe·.'( ~) a.cs) HCl)- ~cs-tqxJ~P...)
(;'('Y()'Y tdi'tk txnl &- 74Yvl,o £- \ L pl l':>1-
.....L
ess:::. oo -=o
-., -(J :. -- J o L')'na
- %. I
p) 'Yee:~ : s~.s k.rn dee t-a~ Ol ronsw"flt 6 ~ ~Ip , -rC-t ) .: : . t -uc-t) =) n(-rCDJr; (NJ):: ~,.. . ' '
1. . 2 t -z.. ,,..-
e-rw,.) tDhe"V\ --the.. 'f'(.p fs 1llMto[ic. &fg~i(accet~bl'~
es~ ~ l+- ec-t) ::. ft- 5 - f-{~J ... us'. @ ·
~) rt,'t 'ihe.se__, 5 m~e..& pusftfonat e.."'rftrf c~t -! -Joo ~ -'.).o 6-;-:P lYCi l.J)H{s)
kf - (t- ~ Cs'.)· H-C';) =- [l S •- - ' - - -
'Is" - [i- .1...
~ {tit1t k'v ~ (+- 6-GtC.S)iUS}
ldo !+Ct(~) t-/(J) .s )
~ -3 o _5_-t-_S_~_ll_)-·tl_l_,
-
PJ\feiocfhj ~
..,)l\cc.efE.<t)t;{i,n ~ Ce-flS
cons
6 0
tz:i,it- &:-.,. : [-t: s"'GiCS}+{CSJ
6---,o
::c
Ct.5 M~) t·tO) =
j_
\
l<v
• ~ S½_te e_~m w~tft. ~t-6~
- ...,.) L-T(-.C&ll ,::,. (US).:=. s ~
:r~~ ·) "?he cen.siti-n b
S➔D
h, i..s 1/e (.oci ~ e-YYor const,,a 0 ~
1irp I cr(t)
ul+) :=: I ', : t' d'.l ) 1'fP~ -o· ·, __, 4W · ttCO -.:- kJs+ z.,) n i z2...) - ~
- (+ etD=- [t 5 &C5') -- (5-J P,) (5 -t Dt.) - - ~
f55 ~t--:>OO .S-3 D Ct- S · k(S-t Z,) [6-t h)- -
j_ i S-,o ~·{R)(S-tPJ _. _ _ ., -:.::: 0
ess :.: -·_, ~+ ct c.. rn HCO
. .S~ c ) ~ • -
::c
J..1°1p
!-k.r,.t.
ess ::
I
kv :; 0
..,/The ~~t l<'p i '3 r,os'ii1()1a ( (')1'e)rf c~
I~ -:,re-o':5~M ars) Hf5) :: le · it:{z.,)('~-t
s cs-+P.)Af
Hrriro 1'--n Tvpe- t> s,Jsf-em.,- iohen - -t~e.1/p r~ ttnl"l:-
~~D
~ ~ C51- z..i) CS·fl-'1.) •· ' - 11 '1""'? -the .st-ec<l1 Mtc.. e..--roY f.J
s°CHPi) C.tt PJ ➔
'- i;,
k' (S l ,) f'iN1) .'.
r,. J Gr.Cs) f,( ((J ~ ~ ·, - ''.J.P.! '< ; MD ii(() • S-f 1,) rs/a )
I( (
1 s Cs1 r,) (q ri , - - ~ ( , fp,)f dtJ
r--
-· • ' I
l ,5
- k'-CS l ~1)()-{l\)•
- -,; "L;I
'.k21'71 - -
' · . _ v11 ... JL s... r,,cs? N(1) ,,. re,ri5 ·/n()t
f!J~ -'-.5-:>o ,ID·Hf)(..5-,_P1J. P,p, -.- "--' COrwt-Q •-,•)"
/ / , I '1 ' .'. es, :: f;. : : ro-rir}an ~
l .'. Ess - ~ .:: Ct'YlS'/anl:- , , I.,, ,-,.,., ..,. < ( 5lhf(J u.,,th "';1p rs unit fOY('IU)I,
nc r • u•
~ ,o..-
tr, I , ,,_re.. 'LJPt'-;) v V .... ,..
,f.,fcnce Fo"' T~ft' J $CJs-\{'M, wf-Lh ihc 5iq,,o f tiu siea~ sfai<'- !< consio•-/-
•~ 5k.tl.~J-.s +n e~')Q r fs Z.No ~ ~JF['l'ld i ~ J('6fi iM , vdcrii lj, orce[t>,'Ydt;crn e-r1or- c~sio n
ITtJe_e <.., f,t.Cs} ·:ttesJ :_. kc.s-tc:,) {SfZi)=.__, 1L ,
f o7 u-ri~ I~ 1eed.back- ccw,i:Yol s v1te.m· "'th~ r.>p<>n
~ Cs-+R) CH RJ - ...,
ft(l-ns-fer -r-n Ct O);:: ro(S.f 2) ,fO"Y -(hoe. 5-te'odtJ sfo i e e
I ~~~ [-1. S . ldrt-z,) LS-t"lt) ..X .... 1 b,,,.CS-+1) l
) ::= S--30 s cs+ P,) {~p•.) =- ~y~VT"o ;::UC z~ eir f ss tf)~ tc, e, ~Ip QC .I) -- _, 4--2-
5" +-
:,5 , -.
1
II ~ '1
.lEDi!,) 1'; tf(5)1::;1..I
s+e~ctt &6.te.. e."r?Or wfth u.n.ft J>aYtabo pc r1p~· l<p ::; (r )r.c )
U1 S · HC~
)
(A.CJ)=. ,...,,r )
! ,, 4 ; ,
1
't- 1. : ~o -.,dir 1
'7. 2- 2.. --1( - ·J
I (1.11; ,~:)::: t ~ ,
L
el.s ;_ (t- .5 E(s)
r-) 1::1:J"YctJJ
::-
,12rn .: - 163
l+ ,s'· Ni-
I
:c
'
:::. Lt- & f'f~
tp :. C
ICv ::.
J-?D
f:
Ct-
1cCst!:)
v(
5 .Sil
)
S•uiC~ H(f) ..
:z.-OC
( •.-~ -:?Ts17'v"fH.,
[1 s·
10Cs-t1l
"Cs~i'Y -;::. 00
~-,o u-,D 1+_1}..C.s)-HCl) ~"'?o I 5...JD S--3 0 S
- l+ __
I_ f<cx. .. Lt s✓ Ctc.l)HQ)-.:. [.+ .s10CJ-ri.) _ ~D
- s~o s'T1+C,,J0•.WC{)) .5-3D H O .s"' C...H I ) -
~<- _..__.--=-
~ ,,
., til./:- :ii'"'
c+ s,.,.u.U) K(S)
r
-
---,.
ka.. e5s;;; tt cc-t):: Lt
-t-)o0 ::,-;)O •
s ~\) JO
S-,3D 3 2- I
t
' ~ :=: 'I 5 . )-f ~~--
G.C.0· HCD -::- k CStZ)CS'+Z.1) - - ( ({) z: 1 + toC.~-t-2..) ~
CS-tP;) CH pJ- - - H Ct CqHC() ' .s"'cs-t1JL'J
2... I _,_ _
kc,.~ Lt 5... 1ccstz..,)C.st z....-)-.,
!)~o CSiP,.) CHA)-- z o :: 53 ,t -
-t - -
1oC~-ti.) - -5"
-?
l -t 10C.1i L) -t- "'-5~
V
/+ 1cf.itt,'
;;-- ~
s-cs-t1)
I
&/'\Cf
·o
L',', -
.
~ j_
F(),y
0 -:::,(){)
Ti.f pe., -0 S~<;tVY'I (£)1th cm) tr
./
.--'!
l\s
f-?J.
z5~~le~
I ~
If~) ·
2-
~v'
t _!_ f . '
(-t4CSH-({s) .f .31~ 1-IC,(JJH{J)
s"Oi1')
J srsrr)
1
scst,) · ·
I-the-
~1.·.
I
st:cod~ c3b:t-te ~~"60 'Y
am• HO);;;, 3cs--tzO(s-tzL) ~.,-
i.s c,o - - [+ &_._L, _,_'
S-'lo ~ -l !.~ ½Cl)".(s) tol-~ S\·_:._, + Cl -S ·_!__,._--
i Hf.49)1:t(S) )jD 3S;I> d, f('.;~.OJ
5-':
1
J
' . .5 ~-t pi)[$-{ p,_) - - .. l -1. / 3 _ ~ t~ _!_. .,. I
.:,-:}D rt+@H(..1) Ot(tSCt(j)H/~) -{ 1-' 3 O-f{fi"'u.{J)HCJ)
ko.. =- Ct- st<-C;+z, )Ctt z...) .5-;l> . ' \f ~-J
~~ ~-\P,) (ti P..) -
i)
=V ;. 3 2- I __
1_
-- ~ _.___,. -t ~
l -l kp l<.v 3 ko..
a.
<=-5 5 -
_ I
?5 ;;. 00 ' i _ 3_ _ 2::. + _10\LQ
rl. ) z.
,
He..n.c~ R,'Y -r~e.-.L s~,;-l('rl" rbf-tvi c1r1ft· .,... 00
(> - 0+ (;0 ::. O·Gr(,
1
-tH..--- .s~ 5-ft'l./e- ~ e·r(t!) 't ·r 5 c:,,;,