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2008-05-25T18:45:44+08:00
TeX output 2008.05.25:1844
2011-07-07T12:15:08+08:00
2011-07-07T12:15:08+08:00
dvipdfm 0.13.2d, Copyright © 1998, by Mark A. Wicks
application/pdf
High precision motion control for hard disk drive systems.
Teoh, Jul Nee.
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[(the)-409(PES)-410(demo)-27(dulator)-410(con)26(v)27(erts)-409(the)-410(enco)-27(ded)-410(serv)27(o)-409(data)-410(to)-410(a)-410(digital)-410(p)-27(osition)-410(error)]TJ
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[(signal.)-428(The)-305(PES)-304(is)-305(then)-305(fed)-305(in)26(to)-304(the)-305(con)27(troller,)-309(whic)27(h)-304(is)-305(loaded)-305(with)-305(sev)26(eral)-304(con)26(trol)]TJ
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T*
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[(analogy)-360(can)-361(b)-27(e)-361(applied)-361(to)-361(the)-361(serv)27(o)-360(trac)26(k)-360(writing)-361(tec)27(hnology)81(.)-537(F)80(rom)-359(the)-361(viewp)-27(oin)26(t)]TJ
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[(of)-278(serv)26(o)-278(trac)26(k)-277(writing)-279(tec)26(hnology)82(,)-288(the)-278(seeking)-279(con)26(trol)-277(is)-279(to)-279(mo)26(v)28(e)-278(the)-279(write)-279(head)-278(from)]TJ
T*
[(the)-265(initial)-266(trac)26(k)-265(to)-265(next)-266(trac)26(k)-265(that)-266(is)-265(to)-266(b)-27(e)-266(written,)-278(and)-266(the)-265(trac)26(k-follo)27(wing)-265(con)26(trol)-264(is)]TJ
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[(to)-296(main)26(tain)-295(the)-296(p)-27(ositioning)-296(of)-296(the)-296(write)-296(head)-296(suc)26(h)-295(that)-296(serv)26(o)-295(signals)-296(will)-296(b)-28(e)-296(written)]TJ
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[(in)-326(concen)26(tric)-325(circles)-327(on)-326(the)-326(disk)-327(media)-326(surface.)]TJ
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[(and)-419(successful)-418(metho)-28(d)-419(for)-418(long-distance)-419(trac)26(k-seeking.)-712(In)-419(the)-419(acceleration)-419(mo)-27(de,)]TJ
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T*
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[(PTOS)-326([9])-326(is)-327(prop)-27(osed)-326(to)-327(impro)26(v)28(e)-326(the)-326(robustness)-327(against)-326(actuator)-326(uncertain)26(ties.)]TJ
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T*
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[(initial)-287(v)54(alues)-286(of)-287(trac)26(k-follo)27(wing)-286(mo)-27(de.)-422(The)-287(initial)-287(v)53(alue)-286(comp)-27(ensation)-287(\(IV)26(C\))-286([13])-287(for)]TJ
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[(v)54(ariables.)-657(The)-400(IV)26(C)-400(metho)-27(d)-400(requires)-401(precise)-400(estimation)-401(of)-400(the)-401(initial)-400(v)53(alues)-400(while)]TJ
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[(k)27(eeping)-276(the)-276(disturbance)-276(rejection)-276(capabilit)26(y)81(.)-417(Therefore,)-286(the)-277(optimal)-276(mo)-27(de)-276(switc)26(hing)]TJ
T*
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[(Recen)27(t)-314(researc)27(h)-314(pap)-27(ers)-314(for)-315(trac)26(k)-313(settling)-314(con)26(trol)-313(eliminate)-315(the)-314(need)-315(for)-314(mo)-27(de-)]TJ
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T*
[(as)-396(the)-396(uni\257ed)-396(con)26(trol)-395(sc)26(heme,)-413(called)-396(comp)-27(osite)-397(nonlinear)-396(feedbac)26(k)-395(\(CNF\))-396(con)26(trol)]TJ
T*
[([15],)-433(and)-411(the)-412(nonlinear)-412(prop)-27(ortional)-412(in)26(tegral)-411(deriv)54(ativ)27(e)-411(\(NPID\))-411([16])-412(con)26(trol.)-690(The)]TJ
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[(CNF)-277([15])-278(con)26(trol)-276(sc)26(heme)-277(com)26(bines)-276(a)-278(linear)-278(feedbac)26(k)-276(la)26(w)-277(to)-277(yield)-278(a)-278(fast)-277(resp)-28(onse)-277(and)]TJ
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[(a)-306(nonlinear)-306(feedbac)26(k)-305(la)26(w)-306(to)-306(increase)-306(the)-306(damping)-307(ratio)-306(of)-306(the)-307(closed-lo)-27(op)-306(system)-307(as)]TJ
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[(a)-373(linear)-373(prop)-27(ortional)-374(deriv)54(ativ)27(e)-372(\(PD\))-373(con)26(troller)-372(and)-374(a)-373(nonlinear)-373(in)26(tegrator)-372(shap)-27(ed)]TJ
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[(b)27(y)-336(a)-337(nonlinear)-337(Gaussian)-336(function)-337(of)-337(PES.)-336(When)-337(the)-337(PES)-336(is)-337(large,)-339(the)-337(in)26(tegrator)-335(is)]TJ
T*
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[(1.2.3)-1125(T)93(rac)31(k-F)94(ollo)31(wing)-374(Con)31(trol)]TJ
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(=)Tj
15.1 3.02 Td
(\271)Tj
/T1_1 11.95 Tf
-2.68 -3.02 Td
(Q)Tj
/T1_3 7.97 Tf
9.27 4.93 Td
(T)Tj
/T1_2 7.97 Tf
T*
(22)Tj
/T1_1 11.95 Tf
8.96 2.96 Td
(;)Tj
/T1_0 11.95 Tf
6.55 3.02 Td
(\271)Tj
-1.3 -3.02 Td
(\247)Tj
/T1_2 7.97 Tf
8.45 -1.8 Td
(1)Tj
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4.73 1.8 Td
(;)Tj
/T1_0 11.95 Tf
-189.77 -39.21 Td
(\271)Tj
-1.3 -3.02 Td
(\247)Tj
/T1_2 7.97 Tf
8.45 -1.8 Td
(2)Tj
/T1_1 11.95 Tf
4.73 1.8 Td
[(;)-166(\270)]TJ
/T1_3 7.97 Tf
12.07 -1.8 Td
(i)Tj
/T1_1 11.95 Tf
3.38 1.8 Td
[(;)-493(i)]TJ
/T1_0 11.95 Tf
16.46 0 Td
[(=)-277(1)]TJ
/T1_1 11.95 Tf
(;)Tj
/T1_0 11.95 Tf
23.52 0 Td
(2)Tj
/T1_1 11.95 Tf
(;)Tj
/T1_0 11.95 Tf
11.09 0 Td
[(3\))-277(=)]TJ
/T1_4 10.91 Tf
-146.29 -14.78 Td
(2)Tj
0 -19.2 TD
(6)Tj
0 -6.54 TD
(6)Tj
T*
(6)Tj
0 -6.55 TD
(6)Tj
0 -6.54 TD
(6)Tj
0 -6.55 TD
(6)Tj
0 -6.54 TD
(6)Tj
T*
(6)Tj
0 -6.55 TD
(6)Tj
0 -6.54 TD
(6)Tj
T*
(6)Tj
0 -6.55 TD
(6)Tj
0 -6.54 TD
(6)Tj
T*
(6)Tj
0 -6.98 TD
(4)Tj
/T1_5 10.91 Tf
21.68 96.08 Td
(\241)Tj
/T1_6 10.91 Tf
10.97 2.76 Td
(\271)Tj
/T1_7 10.91 Tf
-2.49 -2.76 Td
(Q)Tj
/T1_2 7.97 Tf
8.62 -1.63 Td
(11)Tj
/T1_6 10.91 Tf
11.39 1.63 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.63 Td
(1)Tj
/T1_6 10.91 Tf
4.73 1.63 Td
(\()Tj
/T1_7 10.91 Tf
(AY)Tj
/T1_6 10.91 Tf
23.6 0 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
(Y)Tj
/T1_3 7.97 Tf
8.76 3.96 Td
(T)Tj
/T1_7 10.91 Tf
6.6 -3.96 Td
(A)Tj
/T1_3 7.97 Tf
8.18 3.96 Td
(T)Tj
/T1_6 10.91 Tf
9.03 -3.96 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
(E)Tj
/T1_3 7.97 Tf
8.68 3.96 Td
(T)Tj
/T1_7 10.91 Tf
6.61 -3.96 Td
(B)Tj
/T1_3 7.97 Tf
8.82 3.96 Td
(T)Tj
/T1_2 7.97 Tf
-0.55 -6.88 Td
(2)Tj
/T1_6 10.91 Tf
9.57 2.92 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(B)Tj
/T1_2 7.97 Tf
8.27 -1.63 Td
(2)Tj
/T1_7 10.91 Tf
4.73 1.63 Td
(E)Tj
/T1_6 10.91 Tf
8.68 0 Td
(\))Tj
/T1_5 10.91 Tf
-181.61 -21.67 Td
(\241)Tj
/T1_6 10.91 Tf
10.98 2.76 Td
(\271)Tj
/T1_7 10.91 Tf
-2.5 -2.76 Td
(Q)Tj
/T1_3 7.97 Tf
8.62 3.96 Td
(T)Tj
/T1_2 7.97 Tf
0 -6.88 TD
(12)Tj
/T1_6 10.91 Tf
11.39 2.92 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.63 Td
(1)Tj
/T1_6 10.91 Tf
4.73 1.63 Td
(\()Tj
/T1_7 10.91 Tf
(A)Tj
/T1_3 7.97 Tf
12.42 3.96 Td
(T)Tj
/T1_6 10.91 Tf
9.03 -3.96 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
(C)Tj
/T1_3 7.97 Tf
8.58 3.96 Td
(T)Tj
/T1_6 10.91 Tf
9.15 -1.2 Td
(^)Tj
/T1_7 10.91 Tf
-2.55 -2.76 Td
(D)Tj
/T1_3 7.97 Tf
9.33 3.96 Td
(T)Tj
/T1_7 10.91 Tf
6.61 -3.96 Td
(B)Tj
/T1_3 7.97 Tf
8.82 3.96 Td
(T)Tj
/T1_2 7.97 Tf
-0.55 -6.88 Td
(2)Tj
/T1_6 10.91 Tf
7.15 2.92 Td
[(\))-222(+)]TJ
/T1_7 10.91 Tf
17.57 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.63 Td
(1)Tj
/T1_7 10.91 Tf
4.73 1.63 Td
(U)Tj
/T1_3 7.97 Tf
8.64 3.96 Td
(T)Tj
/T1_7 10.91 Tf
-188.68 -25.63 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.64 Td
(2)Tj
/T1_6 10.91 Tf
4.73 1.64 Td
(\()Tj
/T1_7 10.91 Tf
(L)Tj
/T1_2 7.97 Tf
11.67 -1.64 Td
(1)Tj
/T1_7 10.91 Tf
4.73 1.64 Td
(Y)Tj
/T1_6 10.91 Tf
11.18 0 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
(H)Tj
/T1_2 7.97 Tf
9.07 -1.64 Td
(21)Tj
/T1_7 10.91 Tf
8.96 1.64 Td
(E)Tj
/T1_6 10.91 Tf
8.68 0 Td
[(\))-222(+)]TJ
/T1_7 10.91 Tf
17.57 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.64 Td
(1)Tj
/T1_6 10.91 Tf
4.74 1.64 Td
(\()Tj
/T1_7 10.91 Tf
(B)Tj
/T1_3 7.97 Tf
13.06 3.96 Td
(T)Tj
/T1_2 7.97 Tf
-0.55 -6.88 Td
(1)Tj
/T1_6 10.91 Tf
9.57 2.92 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(D)Tj
/T1_3 7.97 Tf
9.33 3.96 Td
(T)Tj
/T1_2 7.97 Tf
-0.3 -6.88 Td
(1)Tj
/T1_6 10.91 Tf
9.45 5.68 Td
(^)Tj
/T1_7 10.91 Tf
-2.55 -2.76 Td
(D)Tj
/T1_3 7.97 Tf
9.34 3.96 Td
(T)Tj
/T1_7 10.91 Tf
6.6 -3.96 Td
(B)Tj
/T1_3 7.97 Tf
8.82 3.96 Td
(T)Tj
/T1_2 7.97 Tf
-0.55 -6.88 Td
(2)Tj
/T1_6 10.91 Tf
7.15 2.92 Td
(\))Tj
/T1_5 10.91 Tf
6.67 0 Td
(\241)Tj
/T1_6 10.91 Tf
12.11 2.76 Td
(\271)Tj
-1.21 -2.76 Td
(\247)Tj
/T1_3 7.97 Tf
7.88 3.96 Td
(T)Tj
/T1_2 7.97 Tf
T*
(1)Tj
/T1_5 10.91 Tf
-152.14 -18.75 Td
(\241)Tj
/T1_7 10.91 Tf
8.48 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.64 Td
(1)Tj
/T1_7 10.91 Tf
4.73 1.64 Td
(Y)Tj
/T1_3 7.97 Tf
8.76 3.95 Td
(T)Tj
/T1_6 10.91 Tf
9.02 -3.95 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(AY)Tj
/T1_6 10.91 Tf
19.36 0 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
(B)Tj
/T1_2 7.97 Tf
8.27 -1.64 Td
(2)Tj
/T1_7 10.91 Tf
4.74 1.64 Td
(E)Tj
/T1_5 10.91 Tf
-65.02 -21.68 Td
(\241)Tj
/T1_7 10.91 Tf
8.48 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.63 Td
(1)Tj
/T1_7 10.91 Tf
4.73 1.63 Td
(I)Tj
/T1_6 10.91 Tf
8.07 0 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(U)Tj
-55.22 -21.67 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.64 Td
(3)Tj
/T1_6 10.91 Tf
4.73 1.64 Td
(\()Tj
/T1_7 10.91 Tf
(L)Tj
/T1_2 7.97 Tf
11.67 -1.64 Td
(1)Tj
/T1_7 10.91 Tf
4.73 1.64 Td
(Y)Tj
/T1_6 10.91 Tf
11.18 0 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
(H)Tj
/T1_2 7.97 Tf
9.07 -1.64 Td
(21)Tj
/T1_7 10.91 Tf
8.96 1.64 Td
(E)Tj
/T1_6 10.91 Tf
8.68 0 Td
(\))Tj
/T1_5 10.91 Tf
-41.78 -34.44 Td
(\244)Tj
-108.21 -21.67 Td
(\241)Tj
/T1_6 10.91 Tf
10.97 2.75 Td
(\271)Tj
/T1_7 10.91 Tf
-2.49 -2.75 Td
(Q)Tj
/T1_2 7.97 Tf
8.62 -1.64 Td
(22)Tj
/T1_6 10.91 Tf
11.39 1.64 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.64 Td
(1)Tj
/T1_6 10.91 Tf
4.73 1.64 Td
(\()Tj
/T1_7 10.91 Tf
(A)Tj
/T1_3 7.97 Tf
12.42 3.95 Td
(T)Tj
/T1_7 10.91 Tf
6.6 -3.95 Td
(X)Tj
/T1_6 10.91 Tf
12.32 0 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
(X)Tj
/T1_3 7.97 Tf
9.89 3.95 Td
(T)Tj
/T1_7 10.91 Tf
6.61 -3.95 Td
(A)Tj
/T1_6 10.91 Tf
[(\))-221(+)]TJ
/T1_7 10.91 Tf
25.75 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.64 Td
(1)Tj
/T1_6 10.91 Tf
4.73 1.64 Td
(\()Tj
/T1_7 10.91 Tf
(C)Tj
/T1_3 7.97 Tf
12.82 3.95 Td
(T)Tj
/T1_7 10.91 Tf
6.6 -3.95 Td
(W)Tj
/T1_3 7.97 Tf
11.81 3.95 Td
(T)Tj
/T1_6 10.91 Tf
9.03 -3.95 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
[(W)-138(C)]TJ
/T1_6 10.91 Tf
20.39 0 Td
(\))Tj
/T1_7 10.91 Tf
-215.35 -21.68 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.63 Td
(2)Tj
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4.73 1.63 Td
(\()Tj
/T1_7 10.91 Tf
(L)Tj
/T1_2 7.97 Tf
11.66 -1.63 Td
(1)Tj
/T1_6 10.91 Tf
7.16 1.63 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
(H)Tj
/T1_2 7.97 Tf
9.07 -1.63 Td
(21)Tj
/T1_6 10.91 Tf
11.51 4.39 Td
(^)Tj
/T1_7 10.91 Tf
-2.55 -2.76 Td
[(D)-27(C)]TJ
/T1_6 10.91 Tf
17.91 0 Td
[(\))-222(+)]TJ
/T1_7 10.91 Tf
17.57 0 Td
(\270)Tj
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6.36 -1.63 Td
(1)Tj
/T1_7 10.91 Tf
4.73 1.63 Td
(B)Tj
/T1_3 7.97 Tf
8.82 3.96 Td
(T)Tj
/T1_7 10.91 Tf
6.6 -3.96 Td
(X)Tj
/T1_6 10.91 Tf
12.32 0 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.63 Td
(1)Tj
/T1_7 10.91 Tf
4.73 1.63 Td
(D)Tj
/T1_3 7.97 Tf
9.33 3.96 Td
(T)Tj
/T1_2 7.97 Tf
-0.3 -6.88 Td
(1)Tj
/T1_7 10.91 Tf
6.9 2.92 Td
(W)Tj
/T1_3 7.97 Tf
11.82 3.96 Td
(T)Tj
/T1_5 10.91 Tf
9.02 -3.96 Td
(\241)Tj
/T1_6 10.91 Tf
12.12 2.76 Td
(\271)Tj
-1.21 -2.76 Td
(\247)Tj
/T1_3 7.97 Tf
7.88 3.96 Td
(T)Tj
/T1_2 7.97 Tf
T*
(2)Tj
/T1_5 10.91 Tf
-148.83 -18.75 Td
(\241)Tj
/T1_7 10.91 Tf
8.48 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.64 Td
(1)Tj
/T1_7 10.91 Tf
4.73 1.64 Td
(Z)Tj
/T1_6 10.91 Tf
10.65 0 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(A)Tj
/T1_6 10.91 Tf
10.6 0 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(B)Tj
/T1_2 7.97 Tf
8.27 -1.64 Td
(2)Tj
/T1_6 10.91 Tf
7.28 4.4 Td
(^)Tj
/T1_7 10.91 Tf
-2.55 -2.76 Td
[(D)-27(C)]TJ
/T1_5 10.91 Tf
-79.46 -21.67 Td
(\241)Tj
/T1_7 10.91 Tf
8.48 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.64 Td
(1)Tj
/T1_7 10.91 Tf
4.73 1.64 Td
(X)Tj
/T1_6 10.91 Tf
12.32 0 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
(X)Tj
/T1_3 7.97 Tf
9.9 3.96 Td
(T)Tj
/T1_7 10.91 Tf
6.6 -3.96 Td
(A)Tj
/T1_6 10.91 Tf
10.6 0 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
[(W)-138(C)]TJ
-70.71 -21.67 Td
(\270)Tj
/T1_2 7.97 Tf
6.37 -1.64 Td
(3)Tj
/T1_6 10.91 Tf
4.73 1.64 Td
(\()Tj
/T1_7 10.91 Tf
(L)Tj
/T1_2 7.97 Tf
11.66 -1.64 Td
(1)Tj
/T1_6 10.91 Tf
7.16 1.64 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
(H)Tj
/T1_2 7.97 Tf
9.07 -1.64 Td
(21)Tj
/T1_6 10.91 Tf
11.51 4.39 Td
(^)Tj
/T1_7 10.91 Tf
-2.55 -2.75 Td
[(D)-27(C)]TJ
/T1_6 10.91 Tf
17.91 0 Td
(\))Tj
/T1_5 10.91 Tf
-95.18 -51.56 Td
(\244)Tj
156.755 0 Td
(\244)Tj
-156.755 -21.67 Td
(\244)Tj
156.755 0 Td
(\244)Tj
-262.345 -21.67 Td
(\241)Tj
/T1_6 10.91 Tf
8.48 0 Td
[(\246)-222(+)]TJ
/T1_7 10.91 Tf
21.51 0 Td
(\270)Tj
/T1_2 7.97 Tf
6.36 -1.64 Td
(2)Tj
/T1_6 10.91 Tf
4.73 1.64 Td
(\()Tj
/T1_7 10.91 Tf
4.25 0 Td
(D)Tj
/T1_3 7.97 Tf
9.33 3.96 Td
(T)Tj
/T1_2 7.97 Tf
-0.3 -6.88 Td
(1)Tj
/T1_6 10.91 Tf
9.45 5.67 Td
(^)Tj
/T1_7 10.91 Tf
-2.55 -2.75 Td
(D)Tj
/T1_3 7.97 Tf
9.33 3.96 Td
(T)Tj
/T1_7 10.91 Tf
6.61 -3.96 Td
(H)Tj
/T1_3 7.97 Tf
9.95 3.96 Td
(T)Tj
/T1_2 7.97 Tf
-0.89 -6.88 Td
(21)Tj
/T1_6 10.91 Tf
11.39 2.92 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(H)Tj
/T1_2 7.97 Tf
9.06 -1.64 Td
(21)Tj
/T1_6 10.91 Tf
11.51 4.39 Td
(^)Tj
/T1_7 10.91 Tf
-2.55 -2.75 Td
[(D)-28(D)]TJ
/T1_2 7.97 Tf
18.37 -1.64 Td
(1)Tj
/T1_6 10.91 Tf
7.15 1.64 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(H)Tj
/T1_3 7.97 Tf
9.95 3.96 Td
(T)Tj
/T1_2 7.97 Tf
-0.89 -6.88 Td
(11)Tj
/T1_6 10.91 Tf
11.39 2.92 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(H)Tj
/T1_2 7.97 Tf
9.06 -1.64 Td
(11)Tj
/T1_6 10.91 Tf
8.97 1.64 Td
(\))Tj
/T1_5 10.91 Tf
49.89 0 Td
(\244)Tj
/T1_7 10.91 Tf
-185.19 -21.68 Td
(B)Tj
/T1_2 7.97 Tf
8.28 -1.63 Td
(1)Tj
/T1_6 10.91 Tf
7.15 1.63 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(B)Tj
/T1_2 7.97 Tf
8.27 -1.63 Td
(2)Tj
/T1_6 10.91 Tf
7.28 4.39 Td
(^)Tj
/T1_7 10.91 Tf
-2.55 -2.76 Td
[(D)-27(D)]TJ
/T1_2 7.97 Tf
18.36 -1.63 Td
(1)Tj
/T1_6 10.91 Tf
94.29 4.39 Td
(\271)Tj
/T1_7 10.91 Tf
-2.49 -2.76 Td
(Q)Tj
/T1_2 7.97 Tf
8.62 -1.63 Td
(11)Tj
/T1_5 10.91 Tf
11.39 1.63 Td
(\241)Tj
/T1_6 10.91 Tf
10.9 0 Td
(\()Tj
/T1_7 10.91 Tf
(Y)Tj
/T1_6 10.91 Tf
15.42 0 Td
(+)Tj
/T1_7 10.91 Tf
10.91 0 Td
(Y)Tj
/T1_3 7.97 Tf
8.75 3.96 Td
(T)Tj
/T1_6 10.91 Tf
6.61 -3.96 Td
(\))Tj
/T1_7 10.91 Tf
-225.08 -21.67 Td
(X)Tj
/T1_3 7.97 Tf
9.89 3.96 Td
(T)Tj
/T1_7 10.91 Tf
6.6 -3.96 Td
(B)Tj
/T1_2 7.97 Tf
8.27 -1.63 Td
(1)Tj
/T1_6 10.91 Tf
7.16 1.63 Td
(+)Tj
/T1_7 10.91 Tf
10.9 0 Td
[(W)-139(D)]TJ
/T1_2 7.97 Tf
20.85 -1.63 Td
(1)Tj
/T1_6 10.91 Tf
93.12 4.39 Td
(\271)Tj
/T1_7 10.91 Tf
-2.5 -2.76 Td
(Q)Tj
/T1_3 7.97 Tf
8.63 3.96 Td
(T)Tj
/T1_2 7.97 Tf
T*
(12)Tj
/T1_5 10.91 Tf
11.38 2.92 Td
(\241)Tj
/T1_6 10.91 Tf
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1.0003 0 0 1.0003 72 769.82 Tm
231.45 -50.94 Td
[(0)-2045(0)]TJ
-69.76 -23.1 Td
(0)Tj
/T1_1 11.95 Tf
28.74 0 Td
(A)Tj
/T1_3 7.97 Tf
8.77 -1.79 Td
(2)Tj
/T1_0 11.95 Tf
32.26 1.79 Td
[(0)-2044(0)]TJ
-69.77 -23.11 Td
[(0)-2234(0)]TJ
/T1_1 11.95 Tf
65.94 0 Td
(A)Tj
/T1_3 7.97 Tf
8.77 -1.79 Td
(3)Tj
/T1_0 11.95 Tf
25.35 1.79 Td
(0)Tj
-105.63 -20.08 Td
(~)Tj
/T1_1 11.95 Tf
-2.8 -3.03 Td
[(B)-50(C)]TJ
/T1_3 7.97 Tf
17.87 -1.79 Td
(1)Tj
/T1_0 11.95 Tf
17.49 4.82 Td
(~)Tj
/T1_1 11.95 Tf
-2.8 -3.03 Td
[(B)-50(C)]TJ
/T1_3 7.97 Tf
17.87 -1.79 Td
(2)Tj
/T1_4 11.95 Tf
14.69 1.79 Td
(\241)Tj
/T1_0 11.95 Tf
12.09 3.03 Td
(~)Tj
/T1_1 11.95 Tf
-2.8 -3.03 Td
[(B)-50(C)]TJ
/T1_3 7.97 Tf
17.87 -1.79 Td
(3)Tj
/T1_0 11.95 Tf
17.78 4.82 Td
(~)Tj
/T1_1 11.95 Tf
-3.09 -3.03 Td
(A)Tj
/T1_2 11.95 Tf
13.75 85.42 Td
(3)Tj
0 -21.04 TD
(7)Tj
0 -7.17 TD
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
0 -7.65 TD
(5)Tj
/T1_0 11.95 Tf
113.54 22.59 Td
(\(6.37\))Tj
-282.93 -94.19 Td
(\271)Tj
/T1_1 11.95 Tf
-2.79 -3.02 Td
(B)Tj
/T1_0 11.95 Tf
19.45 0 Td
(=)Tj
/T1_2 11.95 Tf
19.06 49.12 Td
(2)Tj
0 -21.03 TD
(6)Tj
0 -7.18 TD
(6)Tj
0 -7.17 TD
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
0 -7.65 TD
(4)Tj
/T1_1 11.95 Tf
18.11 55.62 Td
(B)Tj
/T1_3 7.97 Tf
8.89 -1.8 Td
(1)Tj
/T1_0 11.95 Tf
28.9 1.8 Td
[(0)-2735(0)]TJ
-33.9 -23.11 Td
(0)Tj
/T1_1 11.95 Tf
30.01 0 Td
(B)Tj
/T1_3 7.97 Tf
8.89 -1.79 Td
(2)Tj
/T1_0 11.95 Tf
33.55 1.79 Td
(0)Tj
-72.45 -23.11 Td
[(0)-2346(0)]TJ
/T1_1 11.95 Tf
68.56 0 Td
(B)Tj
/T1_3 7.97 Tf
8.89 -1.79 Td
(3)Tj
/T1_0 11.95 Tf
-83.7 -18.29 Td
(~)Tj
/T1_1 11.95 Tf
-2.8 -3.03 Td
[(B)-50(D)]TJ
/T1_3 7.97 Tf
19.21 -1.79 Td
(1)Tj
/T1_0 11.95 Tf
17.49 4.82 Td
(~)Tj
/T1_1 11.95 Tf
-2.8 -3.03 Td
[(B)-50(D)]TJ
/T1_3 7.97 Tf
19.21 -1.79 Td
(2)Tj
/T1_4 11.95 Tf
14.69 1.79 Td
(\241)Tj
/T1_0 11.95 Tf
12.1 3.03 Td
(~)Tj
/T1_1 11.95 Tf
-2.8 -3.03 Td
[(B)-50(D)]TJ
/T1_3 7.97 Tf
19.21 -1.79 Td
(3)Tj
/T1_2 11.95 Tf
9.71 87.21 Td
(3)Tj
0 -21.03 TD
(7)Tj
0 -7.18 TD
(7)Tj
0 -7.17 TD
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
0 -7.65 TD
(5)Tj
/T1_0 11.95 Tf
128.24 22.59 Td
(\(6.38\))Tj
-282.79 -59.13 Td
(\271)Tj
/T1_1 11.95 Tf
-2.67 -3.02 Td
(C)Tj
/T1_0 11.95 Tf
19.19 0 Td
(=)Tj
/T1_2 11.95 Tf
19.06 13.26 Td
(h)Tj
/T1_0 11.95 Tf
13.37 -11.87 Td
(~)Tj
/T1_1 11.95 Tf
-2.74 -3.03 Td
[(D)-27(C)]TJ
/T1_3 7.97 Tf
18.41 -1.79 Td
(1)Tj
/T1_0 11.95 Tf
17.44 4.82 Td
(~)Tj
/T1_1 11.95 Tf
-2.75 -3.03 Td
[(D)-27(C)]TJ
/T1_3 7.97 Tf
18.42 -1.79 Td
(2)Tj
/T1_4 11.95 Tf
14.69 1.79 Td
(\241)Tj
/T1_0 11.95 Tf
12.04 3.03 Td
(~)Tj
/T1_1 11.95 Tf
-2.75 -3.03 Td
[(D)-27(C)]TJ
/T1_3 7.97 Tf
18.42 -1.79 Td
(3)Tj
/T1_0 11.95 Tf
7.39 1.79 Td
(+)Tj
/T1_1 11.95 Tf
11.75 0 Td
(C)Tj
/T1_3 7.97 Tf
8.38 -1.79 Td
(3)Tj
/T1_0 11.95 Tf
17.35 4.82 Td
(~)Tj
/T1_1 11.95 Tf
-2.66 -3.03 Td
(C)Tj
/T1_2 11.95 Tf
14.21 14.9 Td
(i)Tj
/T1_0 11.95 Tf
86.24 -13.26 Td
(\(6.39\))Tj
-283.52 -23.08 Td
(\271)Tj
/T1_1 11.95 Tf
-2.75 -3.02 Td
(D)Tj
/T1_0 11.95 Tf
20 0 Td
(=)Tj
/T1_2 11.95 Tf
19.06 13.27 Td
(h)Tj
/T1_0 11.95 Tf
13.37 -11.88 Td
(~)Tj
/T1_1 11.95 Tf
-2.74 -3.02 Td
[(D)-27(D)]TJ
/T1_3 7.97 Tf
19.76 -1.79 Td
(1)Tj
/T1_0 11.95 Tf
17.43 4.81 Td
(~)Tj
/T1_1 11.95 Tf
-2.74 -3.02 Td
[(D)-26(D)]TJ
/T1_3 7.97 Tf
19.76 -1.79 Td
(2)Tj
/T1_4 11.95 Tf
14.69 1.79 Td
(\241)Tj
/T1_0 11.95 Tf
12.04 3.02 Td
(~)Tj
/T1_1 11.95 Tf
-2.75 -3.02 Td
[(D)-27(D)]TJ
/T1_3 7.97 Tf
19.76 -1.79 Td
(3)Tj
/T1_0 11.95 Tf
7.39 1.79 Td
(+)Tj
/T1_1 11.95 Tf
11.76 0 Td
(D)Tj
/T1_3 7.97 Tf
9.71 -1.79 Td
(3)Tj
/T1_2 11.95 Tf
9.71 16.69 Td
(i)Tj
/T1_0 11.95 Tf
100.06 -13.27 Td
(\(6.40\))Tj
-366.44 -50.73 Td
[(F)81(rom)-236(\(6.17\),)-255(the)-237(state-space)-237(represen)26(tation)-236(for)-237(the)]TJ
/T1_1 11.95 Tf
255.11 0 Td
(H)Tj
/T1_3 7.97 Tf
9.7 -1.79 Td
(2)Tj
/T1_0 11.95 Tf
7.56 1.79 Td
[(con)26(trol)-236(problem)-237(in)-237(terms)]TJ
-300.71 -23.11 Td
[(of)-326(\()]TJ
/T1_1 11.95 Tf
(A)Tj
/T1_5 7.97 Tf
26.65 -1.79 Td
(q)Tj
/T1_1 11.95 Tf
4.57 1.79 Td
[(;)-166(B)]TJ
/T1_5 7.97 Tf
14.13 -1.79 Td
(q)Tj
/T1_1 11.95 Tf
4.56 1.79 Td
[(;)-167(C)]TJ
/T1_5 7.97 Tf
13.62 -1.79 Td
(q)Tj
/T1_1 11.95 Tf
4.56 1.79 Td
[(;)-166(D)]TJ
/T1_5 7.97 Tf
14.96 -1.79 Td
(q)Tj
/T1_0 11.95 Tf
4.57 1.79 Td
[(\))-326(can)-326(b)-27(e)-327(describ)-27(ed)-326(as)-327(the)-326(follo)26(wing:)]TJ
-21.6 -92.74 Td
(\271)Tj
/T1_1 11.95 Tf
-3.09 -3.03 Td
(A)Tj
/T1_0 11.95 Tf
18.73 0 Td
(=)Tj
/T1_2 11.95 Tf
19.06 70.64 Td
(2)Tj
0 -21.03 TD
(6)Tj
0 -7.18 TD
(6)Tj
0 -7.17 TD
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
0 -7.18 TD
(6)Tj
0 -7.17 TD
(6)Tj
T*
(6)Tj
T*
(6)Tj
0 -7.65 TD
(4)Tj
/T1_1 11.95 Tf
26.12 100.24 Td
(A)Tj
/T1_3 7.97 Tf
8.77 -1.79 Td
(1)Tj
/T1_0 11.95 Tf
42.72 1.79 Td
[(0)-3888(0)-3269(0)-2275(0)-1964(0)]TJ
-47.67 -23.11 Td
(0)Tj
/T1_1 11.95 Tf
43.85 0 Td
(A)Tj
/T1_3 7.97 Tf
8.77 -1.79 Td
(2)Tj
/T1_0 11.95 Tf
47.38 1.79 Td
[(0)-3268(0)-2275(0)-1964(0)]TJ
-100 -23.11 Td
[(0)-3499(0)]TJ
/T1_1 11.95 Tf
96.17 0 Td
(A)Tj
/T1_3 7.97 Tf
8.77 -1.79 Td
(3)Tj
/T1_0 11.95 Tf
39.98 1.79 Td
[(0)-2275(0)-1963(0)]TJ
/T1_1 11.95 Tf
-159 -23.1 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(t)Tj
/T1_3 7.97 Tf
(11)Tj
/T1_1 11.95 Tf
12.02 1.79 Td
(C)Tj
/T1_3 7.97 Tf
8.37 -1.79 Td
(1)Tj
/T1_1 11.95 Tf
18.39 1.79 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(t)Tj
/T1_3 7.97 Tf
(11)Tj
/T1_1 11.95 Tf
12.02 1.79 Td
(C)Tj
/T1_3 7.97 Tf
8.38 -1.79 Td
(2)Tj
/T1_4 11.95 Tf
18.39 1.79 Td
(\241)Tj
/T1_1 11.95 Tf
9.29 0 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(t)Tj
/T1_3 7.97 Tf
(11)Tj
/T1_1 11.95 Tf
12.02 1.79 Td
(C)Tj
/T1_3 7.97 Tf
8.38 -1.79 Td
(3)Tj
/T1_1 11.95 Tf
17.59 1.79 Td
(A)Tj
/T1_5 7.97 Tf
8.78 -1.79 Td
(t)Tj
/T1_3 7.97 Tf
3.05 0 Td
(11)Tj
/T1_0 11.95 Tf
28.69 1.79 Td
[(0)-1963(0)]TJ
/T1_1 11.95 Tf
-187.81 -23.11 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.56 1.79 Td
(C)Tj
/T1_3 7.97 Tf
8.37 -1.79 Td
(1)Tj
/T1_1 11.95 Tf
26.86 1.79 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.55 1.79 Td
(C)Tj
/T1_3 7.97 Tf
8.37 -1.79 Td
(2)Tj
/T1_4 11.95 Tf
26.86 1.79 Td
(\241)Tj
/T1_1 11.95 Tf
9.29 0 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.56 1.79 Td
(C)Tj
/T1_3 7.97 Tf
8.37 -1.79 Td
(3)Tj
/T1_0 11.95 Tf
29.31 1.79 Td
(0)Tj
/T1_1 11.95 Tf
29.8 0 Td
(A)Tj
/T1_5 7.97 Tf
8.78 -1.79 Td
(t)Tj
/T1_0 11.95 Tf
23.78 1.79 Td
(0)Tj
/T1_1 11.95 Tf
-224.27 -23.11 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(q)Tj
/T1_1 11.95 Tf
4.57 1.79 Td
(D)Tj
/T1_5 7.97 Tf
9.71 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.56 1.79 Td
(C)Tj
/T1_3 7.97 Tf
8.37 -1.79 Td
(1)Tj
/T1_1 11.95 Tf
14.69 1.79 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(q)Tj
/T1_1 11.95 Tf
4.57 1.79 Td
(D)Tj
/T1_5 7.97 Tf
9.71 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.56 1.79 Td
(C)Tj
/T1_4 11.95 Tf
18.83 0 Td
(\241)Tj
/T1_1 11.95 Tf
9.29 0 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(q)Tj
/T1_1 11.95 Tf
4.57 1.79 Td
(D)Tj
/T1_5 7.97 Tf
9.71 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.56 1.79 Td
(C)Tj
/T1_3 7.97 Tf
8.37 -1.79 Td
(3)Tj
/T1_0 11.95 Tf
22.17 1.79 Td
(0)Tj
/T1_1 11.95 Tf
23.28 0 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(q)Tj
/T1_1 11.95 Tf
4.56 1.79 Td
(C)Tj
/T1_5 7.97 Tf
8.37 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
13.52 1.79 Td
(A)Tj
/T1_5 7.97 Tf
8.77 -1.79 Td
(q)Tj
/T1_2 11.95 Tf
9.55 131.83 Td
(3)Tj
0 -21.03 TD
(7)Tj
0 -7.18 TD
(7)Tj
0 -7.17 TD
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
0 -7.18 TD
(7)Tj
0 -7.17 TD
(7)Tj
T*
(7)Tj
T*
(7)Tj
0 -7.65 TD
(5)Tj
/T1_0 11.95 Tf
42.26 44.1 Td
(\(6.41\))Tj
-329.77 -139.6 Td
(\271)Tj
/T1_1 11.95 Tf
-2.8 -3.02 Td
(B)Tj
/T1_0 11.95 Tf
19.45 0 Td
(=)Tj
/T1_2 11.95 Tf
19.06 70.63 Td
(2)Tj
0 -21.03 TD
(6)Tj
0 -7.17 TD
(6)Tj
T*
(6)Tj
T*
(6)Tj
0 -7.18 TD
(6)Tj
0 -7.17 TD
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
0 -7.65 TD
(4)Tj
/T1_1 11.95 Tf
26.73 100.23 Td
(B)Tj
/T1_3 7.97 Tf
8.89 -1.79 Td
(1)Tj
/T1_0 11.95 Tf
46.13 1.79 Td
[(0)-4177(0)]TJ
-51.14 -23.1 Td
(0)Tj
/T1_1 11.95 Tf
47.25 0 Td
(B)Tj
/T1_3 7.97 Tf
8.89 -1.8 Td
(2)Tj
/T1_0 11.95 Tf
50.78 1.8 Td
(0)Tj
-106.92 -23.11 Td
[(0)-3788(0)]TJ
/T1_1 11.95 Tf
103.03 0 Td
(B)Tj
/T1_3 7.97 Tf
8.89 -1.79 Td
(3)Tj
/T1_1 11.95 Tf
-126.23 -21.32 Td
(B)Tj
/T1_6 5.98 Tf
8.89 -2.9 Td
(t)Tj
/T1_7 5.98 Tf
(11)Tj
/T1_1 11.95 Tf
11.15 2.9 Td
(D)Tj
/T1_3 7.97 Tf
9.71 -1.79 Td
(1)Tj
/T1_1 11.95 Tf
21.38 1.79 Td
(B)Tj
/T1_6 5.98 Tf
8.89 -2.9 Td
(t)Tj
/T1_7 5.98 Tf
(11)Tj
/T1_1 11.95 Tf
11.15 2.9 Td
(D)Tj
/T1_3 7.97 Tf
9.72 -1.79 Td
(2)Tj
/T1_4 11.95 Tf
21.37 1.79 Td
(\241)Tj
/T1_1 11.95 Tf
(B)Tj
/T1_6 5.98 Tf
18.19 -2.9 Td
(t)Tj
/T1_7 5.98 Tf
(11)Tj
/T1_1 11.95 Tf
11.15 2.9 Td
(D)Tj
/T1_3 7.97 Tf
9.71 -1.79 Td
(3)Tj
/T1_1 11.95 Tf
-137.52 -21.32 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.56 1.79 Td
(D)Tj
/T1_3 7.97 Tf
9.71 -1.79 Td
(1)Tj
/T1_1 11.95 Tf
28.98 1.79 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.55 1.79 Td
(D)Tj
/T1_3 7.97 Tf
9.72 -1.79 Td
(2)Tj
/T1_4 11.95 Tf
28.97 1.79 Td
(\241)Tj
/T1_1 11.95 Tf
(B)Tj
/T1_5 7.97 Tf
18.19 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.55 1.79 Td
(D)Tj
/T1_3 7.97 Tf
9.72 -1.79 Td
(3)Tj
/T1_1 11.95 Tf
-140.87 -21.31 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(q)Tj
/T1_1 11.95 Tf
4.57 1.79 Td
(D)Tj
/T1_5 7.97 Tf
9.71 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.56 1.79 Td
(D)Tj
/T1_3 7.97 Tf
9.71 -1.79 Td
(1)Tj
/T1_1 11.95 Tf
14.7 1.79 Td
(B)Tj
/T1_5 7.97 Tf
8.89 -1.79 Td
(q)Tj
/T1_1 11.95 Tf
4.56 1.79 Td
(D)Tj
/T1_5 7.97 Tf
9.72 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.55 1.79 Td
(D)Tj
/T1_3 7.97 Tf
9.72 -1.79 Td
(2)Tj
/T1_4 11.95 Tf
14.69 1.79 Td
(\241)Tj
/T1_1 11.95 Tf
(B)Tj
/T1_5 7.97 Tf
18.19 -1.79 Td
(q)Tj
/T1_1 11.95 Tf
4.56 1.79 Td
(D)Tj
/T1_5 7.97 Tf
9.72 -1.79 Td
(t)Tj
/T1_1 11.95 Tf
3.55 1.79 Td
(D)Tj
/T1_3 7.97 Tf
9.72 -1.79 Td
(3)Tj
/T1_2 11.95 Tf
9.71 131.82 Td
(3)Tj
0 -21.03 TD
(7)Tj
0 -7.17 TD
(7)Tj
T*
(7)Tj
T*
(7)Tj
0 -7.18 TD
(7)Tj
0 -7.17 TD
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
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/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_1 11.95 Tf
-223.49 -21.31 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.8 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(1)Tj
/T1_0 11.95 Tf
4.74 1.8 Td
(\252)Tj
/T1_5 7.97 Tf
9.1 4.33 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.33 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.8 Td
(i)Tj
/T1_2 7.97 Tf
2.88 0 Td
(1)Tj
/T1_0 11.95 Tf
4.73 1.8 Td
(\251)Tj
/T1_5 7.97 Tf
8.46 4.33 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.33 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.8 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(2)Tj
/T1_1 11.95 Tf
4.74 1.8 Td
(D)Tj
/T1_4 7.97 Tf
9.71 -1.8 Td
(p)Tj
/T1_2 7.97 Tf
4.26 0 Td
(2)Tj
/T1_1 11.95 Tf
46.01 1.8 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.8 Td
(c)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_0 11.95 Tf
8.4 1.8 Td
(\252)Tj
/T1_5 7.97 Tf
9.1 4.33 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.33 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.8 Td
(i)Tj
/T1_2 7.97 Tf
2.88 0 Td
(1)Tj
/T1_0 11.95 Tf
4.73 1.8 Td
(\251)Tj
/T1_5 7.97 Tf
8.46 4.33 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.33 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.8 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_6 11.95 Tf
-257.76 -21.31 Td
(\241)Tj
/T1_1 11.95 Tf
(B)Tj
/T1_4 7.97 Tf
18.19 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_1 11.95 Tf
8.4 1.79 Td
(D)Tj
/T1_4 7.97 Tf
9.71 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.27 0 Td
(2)Tj
/T1_0 11.95 Tf
7.38 1.79 Td
(+)Tj
/T1_1 11.95 Tf
11.76 0 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_1 11.95 Tf
8.4 1.79 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.26 0 Td
(2)Tj
/T1_0 11.95 Tf
4.73 1.79 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.32 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.71 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_1 11.95 Tf
8.4 1.79 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.26 0 Td
(2)Tj
/T1_6 11.95 Tf
14.69 1.79 Td
(\241)Tj
/T1_1 11.95 Tf
9.29 0 Td
(B)Tj
/T1_4 7.97 Tf
8.9 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(2)Tj
/T1_0 11.95 Tf
7.39 1.79 Td
(+)Tj
/T1_1 11.95 Tf
11.76 0 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(2)Tj
/T1_1 11.95 Tf
4.74 1.79 Td
(D)Tj
/T1_4 7.97 Tf
9.71 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.26 0 Td
(2)Tj
/T1_0 11.95 Tf
4.73 1.79 Td
(\251)Tj
/T1_5 7.97 Tf
8.46 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_6 11.95 Tf
-233.78 -21.32 Td
(\241)Tj
/T1_1 11.95 Tf
9.29 0 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.79 Td
(i)Tj
/T1_2 7.97 Tf
2.88 0 Td
(1)Tj
/T1_0 11.95 Tf
4.74 1.79 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_1 11.95 Tf
8.4 1.79 Td
(D)Tj
/T1_4 7.97 Tf
9.71 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.27 0 Td
(2)Tj
/T1_6 11.95 Tf
75.24 1.79 Td
(\241)Tj
/T1_1 11.95 Tf
9.29 0 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.79 Td
(i)Tj
/T1_2 7.97 Tf
2.89 0 Td
(1)Tj
/T1_0 11.95 Tf
4.73 1.79 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_6 11.95 Tf
-137.58 -25.3 Td
(\241)Tj
/T1_1 11.95 Tf
(B)Tj
/T1_4 7.97 Tf
18.19 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.26 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 1.79 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(1)Tj
/T1_0 11.95 Tf
4.73 1.79 Td
(\252)Tj
/T1_5 7.97 Tf
9.11 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(i)Tj
/T1_2 7.97 Tf
2.88 0 Td
(1)Tj
/T1_0 11.95 Tf
4.73 1.79 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
6.59 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(2)Tj
/T1_1 11.95 Tf
-83.61 -21.31 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.8 Td
(p)Tj
/T1_2 7.97 Tf
4.26 0 Td
(2)Tj
/T1_0 11.95 Tf
4.73 1.8 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.33 Td
(\241)Tj
/T1_2 7.97 Tf
6.59 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 -4.33 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.8 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(2)Tj
/T1_6 11.95 Tf
-74.26 -21.31 Td
(\241)Tj
/T1_1 11.95 Tf
(B)Tj
/T1_4 7.97 Tf
18.19 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_0 11.95 Tf
8.4 1.79 Td
(\252)Tj
/T1_5 7.97 Tf
9.1 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
6.59 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.71 -1.79 Td
(i)Tj
/T1_2 7.97 Tf
2.89 0 Td
(1)Tj
/T1_0 11.95 Tf
4.73 1.79 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_1 11.95 Tf
-95.6 -21.32 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_6 11.95 Tf
11.06 1.79 Td
(\241)Tj
/T1_1 11.95 Tf
11.95 0 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_1 11.95 Tf
8.4 1.79 Td
(D)Tj
/T1_4 7.97 Tf
9.71 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.27 0 Td
(2)Tj
/T1_0 11.95 Tf
4.73 1.79 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_1 11.95 Tf
-71.68 -21.32 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.79 Td
(i)Tj
/T1_2 7.97 Tf
2.88 0 Td
(1)Tj
/T1_0 11.95 Tf
4.73 1.79 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
6.59 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(2)Tj
/T1_3 11.95 Tf
42.98 109.52 Td
(3)Tj
0 -21.03 TD
(7)Tj
0 -7.18 TD
(7)Tj
0 -7.17 TD
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
0 -7.18 TD
(7)Tj
0 -7.64 TD
(5)Tj
/T1_1 11.95 Tf
9.96 33.34 Td
(;)Tj
-283.73 -119.52 Td
(B)Tj
/T1_2 7.97 Tf
8.89 -1.79 Td
(2)Tj
/T1_0 11.95 Tf
8.05 1.79 Td
(=)Tj
/T1_3 11.95 Tf
12.42 59.88 Td
(2)Tj
0 -21.03 TD
(6)Tj
0 -7.17 TD
(6)Tj
0 -7.18 TD
(6)Tj
0 -7.17 TD
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
T*
(6)Tj
0 -7.65 TD
(4)Tj
/T1_1 11.95 Tf
12.95 77.92 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.26 0 Td
(1)Tj
/T1_6 11.95 Tf
7.39 1.79 Td
(\241)Tj
/T1_1 11.95 Tf
11.95 0 Td
(B)Tj
/T1_4 7.97 Tf
8.89 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.27 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 1.79 Td
(D)Tj
/T1_4 7.97 Tf
9.71 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_0 11.95 Tf
8.4 1.79 Td
(\252)Tj
/T1_5 7.97 Tf
9.1 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
6.59 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.26 0 Td
(1)Tj
/T1_0 11.95 Tf
-52.01 -21.31 Td
(0)Tj
/T1_6 11.95 Tf
-29.93 -23.11 Td
(\241)Tj
/T1_1 11.95 Tf
(B)Tj
/T1_4 7.97 Tf
18.19 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_0 11.95 Tf
8.4 1.79 Td
(\252)Tj
/T1_5 7.97 Tf
9.1 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
6.59 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.71 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.27 0 Td
(1)Tj
/T1_0 11.95 Tf
-31.06 -21.32 Td
(0)Tj
0 -23.1 TD
(0)Tj
/T1_3 11.95 Tf
61.72 107.72 Td
(3)Tj
0 -21.03 TD
(7)Tj
0 -7.17 TD
(7)Tj
0 -7.18 TD
(7)Tj
0 -7.17 TD
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
T*
(7)Tj
0 -7.65 TD
(5)Tj
/T1_1 11.95 Tf
9.96 33.34 Td
(;)Tj
-159.2 -74.94 Td
(C)Tj
/T1_0 11.95 Tf
12.55 0 Td
(=)Tj
/T1_3 11.95 Tf
12.42 13.27 Td
(h)Tj
/T1_0 11.95 Tf
10.63 -14.9 Td
(0)Tj
/T1_6 11.95 Tf
15.81 0 Td
(\241)Tj
/T1_0 11.95 Tf
9.29 0 Td
(\251)Tj
/T1_5 7.97 Tf
8.46 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(2)Tj
/T1_1 11.95 Tf
4.74 1.79 Td
(C)Tj
/T1_4 7.97 Tf
8.37 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.26 0 Td
(2)Tj
/T1_0 11.95 Tf
14.69 1.79 Td
(0)Tj
1.0003 0 0 1.0003 72 769.82 Tm
177.83 -423.36 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
6.59 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 -4.34 Td
(C)Tj
/T1_4 7.97 Tf
8.37 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_0 11.95 Tf
18.36 1.79 Td
(0)Tj
/T1_3 11.95 Tf
10.83 14.9 Td
(i)Tj
/T1_1 11.95 Tf
7.64 -13.27 Td
(;)Tj
-207.54 -28.72 Td
(D)Tj
/T1_0 11.95 Tf
13.36 0 Td
(=)Tj
/T1_3 11.95 Tf
12.42 13.27 Td
(h)Tj
/T1_6 11.95 Tf
10.63 -14.9 Td
(\241)Tj
/T1_0 11.95 Tf
9.29 0 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.33 Td
(\241)Tj
/T1_2 7.97 Tf
6.59 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 -4.33 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.8 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(2)Tj
/T1_1 11.95 Tf
4.73 1.8 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.8 Td
(p)Tj
/T1_2 7.97 Tf
4.26 0 Td
(2)Tj
/T1_6 11.95 Tf
14.69 1.8 Td
(\241)Tj
/T1_0 11.95 Tf
(\251)Tj
/T1_5 7.97 Tf
17.75 4.33 Td
(\241)Tj
/T1_2 7.97 Tf
6.59 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 -4.33 Td
(D)Tj
/T1_4 7.97 Tf
9.71 -1.8 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_0 11.95 Tf
18.36 1.8 Td
(\251)Tj
/T1_5 7.97 Tf
8.45 4.33 Td
(\241)Tj
/T1_2 7.97 Tf
6.59 0 Td
(1)Tj
/T1_1 11.95 Tf
4.73 -4.33 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.8 Td
(c)Tj
/T1_2 7.97 Tf
3.66 0 Td
(2)Tj
/T1_3 11.95 Tf
9.71 16.7 Td
(i)Tj
/T1_1 11.95 Tf
7.64 -13.27 Td
(;)Tj
-218.19 -28.72 Td
(L)Tj
/T1_0 11.95 Tf
11.28 0 Td
(=)Tj
/T1_3 11.95 Tf
12.42 13.26 Td
(h)Tj
/T1_6 11.95 Tf
10.63 -14.9 Td
(\241)Tj
/T1_0 11.95 Tf
9.29 0 Td
(\252)Tj
/T1_5 7.97 Tf
9.11 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(C)Tj
/T1_4 7.97 Tf
8.37 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
4.27 0 Td
(1)Tj
/T1_0 11.95 Tf
14.69 1.79 Td
(\252)Tj
/T1_5 7.97 Tf
9.1 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(i)Tj
/T1_2 7.97 Tf
2.88 0 Td
(1)Tj
/T1_0 11.95 Tf
4.73 1.79 Td
(\251)Tj
/T1_5 7.97 Tf
8.46 4.34 Td
(\241)Tj
/T1_2 7.97 Tf
(1)Tj
/T1_1 11.95 Tf
11.31 -4.34 Td
(D)Tj
/T1_4 7.97 Tf
9.72 -1.79 Td
(c)Tj
/T1_2 7.97 Tf
(2)Tj
/T1_1 11.95 Tf
8.4 1.79 Td
(C)Tj
/T1_4 7.97 Tf
8.37 -1.79 Td
(p)Tj
/T1_2 7.97 Tf
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ET
q
1.0002747 0 0 1.0002747 72 769.8200073 cm
0.48 w
q 1 0 0 1 38.84 -409.08 cm
0 0 m
386.65 0 l
S
Q
Q
BT
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1.0003 0 0 1.0003 112.8514 342.7705 Tm
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T*
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