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−2.5−2−1.5−1−0.500.511.5−2−1.5−1−0.500.51diagramma di Nyquist

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(2)     !#"%$ '&' ")(*('! ,+.-/0 1  234 576. 8 9;:=<;> 3 8@?ACBED*FGA H.I ?0:JDK>. LNM/OQPSR;M/TUM/VUW/RSX/R'WZYGM[TUM/OQ\G]Q^G]G_*TURTU]QTa`bRc`b\GRSTUWedfdhg3ijRSPlkhdhPS]QVUM.dhTUTUM/OQ^)d0`b]mM[TURVURSTUn]Q^Gg)dfdhPSPSMogG]Qpjdh^GgGMhq rsCt Rudvg)d0`b]f\G^3TURSTa`bM/pjdfwjxzy s WedhVbd0`U`bM/VURSX/Xed0`b]fg)dhR;TUM/OQ\GM/^`bR{gGRudhOQVbdhpmpmR*gGR'L}|#~\GRSTa`M.gGR'LNRSWZYG]QPST/€ diagramma di Nichols diagramma di Nyquist. 20. 0.511. 1. 0.619 0.75. 15. 0.909 1.1. db. 0.5 5.11 5.62 4.64. 1.33. 10. 1.62. 6.81 1.96. 8.25 10. 4.22. 0. 2.37 2.61. 5. 3.83. 2.87 3.16 3.48. 3.48. 3.83. 0 −0.5. 4.22. 3.16. 4.64 5.11. −5. 2.87. 5.62. −1. 6.19 2.61. −10. 6.81. 2.37. 7.5. −1.5. −15. 8.25. 2.15 9.09. −20. 1.96. −2 −2.5. −260. −240. −220. −200. −180. −160. −140. −120 gradi. −100. r q d s VU]QOQM‚`U`ZdhVUMo\G^)dvVUM‚`bMoW/]QVUVUM‚`U`bVURSW/Mfx dh^`bRSW/RSn)d0`bVURSW/MN]CVURc`ZdhVUg)d0 `bVURSW/MdTUW/M/Pc`Zd s RS^ƒpm]#gG]vg)dRSpmn]QVUVUMdhP TURSTa`bM/pjdCVUM‚`bVU]dhX/RS]Q^)d0`b]C\G^3pjdhVUOQRS^GMogGR'dhpmnGRSM/X/Xedm„† }‡ ˆ ‰ q r q Š s VU]QOQM‚`U`ZdhVUMƒ\G^)d‹VUM‚`bMd‹VURc`ZdhVUgG]3Mdh^`bRSW/RSn]‹W/]Q^Œ/m‡Ž0Œ  ˆ RS^pm]#gG]‹WZYGMƒRSP OQ\)dhg)dhOQ^G]‹gGRdh^GM/PSPS] ‘ xzy s wjxzy s n)dhTUTUR'nM/V}RSPlnG\G^`b]j’“dekQM/^`bMpm]#gG\GPS]f„”•‡ ‰ M.– dhTUM—”˜‡š™ re›œh q žQsCt Rudvg)d0`b]fRSP;TUM/OQ\GM/^`bMTURSTa`bM/pjdCRS^VUM‚`bVU]dhX/RS]Q^GMh€ ² ­Z±  › œ v i   § Ÿ ¨ Ÿ © Ÿ ¢3£ ¤¥£ ª Ÿ « Ÿ xzy ¡ žQs  y¡ rœ ¦ ° ¯¬ ± ¬ ­ ¬ ®a¬ ±¯ ¯ ­Z± ž q d s ]QTa`b]ƒ ³‡ r _GTUW/VURckQM/VUM,Pz´ M/~\)dhX/RS]Q^GM.gGM/PSPudvVUM‚`U`ZdfgGRWedhVURSW/]CRS^–1\G^GX/RS]Q^GM[gGR § q ž q Š s ]QTa`b]ƒ ³‡ r _GgGM‚`bM/VUpmRS^)dhVUM.nM/V}~\)dhPSMokhdhPS]QVUM §hµ gGR § RSP;nG\G^`b]mgGRPudekQ]QVU]@Mj¶ x © ‰· ª ‰ s ‡¸x i · œs q ž q W s ]QTa`b] ¹‡ r MKº)TUTbd0`b]NRSPhnG\G^`b]NgGRQPudekQ]QVU]¥RS^jx i · œs _`bVbdhW/W/RudhVUMK~\)dhPSRc`Zd0`bRckhdhpmM/^`bMPz´ dh^Gg)dhpmM/^`b]¥gGM/P¼» Pud.–1\G^GX/RS]Q^GM}gGM/TUW/VURc`U`bRckhd[½jx ¾ s gGM/P*ŠGPS]#W/W/],^G]Q^mPSRS^GMedhVUM}L,q ¿ÀqÁkQMNn]QTUTURSŠGRSPSM¥RS^GgGRSWedhVUM¥Pz´ M/TUnGVUM/TUTURS]Q^GM dh^)dhPSRc`bRSWedgGM/PSPud–1\G^GX/RS]Q^GM,½jx ¾ s M[gGM‚`bM/VUpmRS^)dhVU^GM.RnG\G^`bRgGRpmRS^GRSpm]vM.pjdhTUTURSpm]Gq ž q g s ]QTa`b]v ¹‡ r M/g § ‡ §hµ _VURSWedekhdhVUM,x1]kQMNn]QTUTURSŠGRSPSM¥dh^)dhPSRc`bRSWedhpmM/^`bM s dhpmnGRSM/X/Xedo¾  µ M}nG\GPSTbdhX/RS]Q^GMà  µ gGM/OQPSR;M‚kQM/^`b\)dhPSR'W/RSW/PSR;PSRSpmRc`bMNnGVUM/TUM/^`bR'^GM/PTURSTa`bM/pjdCTUnM/W/Rcº)Wedh^GgG]jTUM[M/TUTUR'TU]Q^G]mTa`ZdhŠGRSPSRl]fRS^GTa`ZdhŠGRSPSRzq ž q M svt \GnGn]Q^GM/^GgG]JWZYGM%RSP,nG\G^`b]ÄgGR,PudekQ]QVU]ÄVURSpjdh^GOdRS^khdhVURud0`b]G_ogGRSTUW/\`bM/VUM%~\)dhPSRc`Zd0`bRckhdhpmM/^`bM•W/]QpmM khdhVURudh^G]CRW/RSW/PSR;PSRSpmRc`bMNgGM/PTURSTa`bM/pjdfdhPlkhdhVURudhVUM.gGM/Pn)dhVbdhpmM‚`bVU]m ÆÅ œ q ž q – s ]QTa`b]Ǡȇ r M/g § ‡ § µ _NWedhPSW/]QPudhVUM‹RS^ÄW/]QVUVURSTUn]Q^GgGM/^GXedÉgGM/RoW/RSW/PSRNPSRSpmRc`bM@Ta`ZdhŠGRSPSRz_¥Pz´ dhpmnGRSM/X/Xed gGM/PSPz´ ]QTUW/RSPSPudhX/RS]Q^GMNTU\GPSPudkhdhVURudhŠGRSPSMM/VUVU]QVUM ¨ q ÊsvË `bRSPSRSX/Xedh^GgG]vRSP;pmM‚`b]#gG]CgGM/PSPudv`bVbdhTa–1]QVUpjdhX/RS]Q^GMoŠGRSPSRS^GMedhVUMh_#gGRSTUW/VUM‚`bRSX/XedhVUM[RSP;TUM/OQ\GM/^`bM,VUM/OQ]QPud0`b]QVUMh€ xzy s ‡Ïi y¡ žhœ ̕xzy s ‡ „Í ΃xzy s y¡=Ð œ OQRS\G^GOQM/^GgG]@dh^GWZYGMmdhPSPudjgGM‚`bM/VUpmRS^)dhX/RS]Q^GMvgGM/PSPudjW/]QVUVURSTUn]Q^GgGM/^`bMfM/~\)dhX/RS]Q^GMfdhPSPSMgGRcÑlM/VUM/^GX/Mhq t RK\`bRSPSRSX/X/R RSPlnM/VURS]#gG]fgGR;WedhpmnGRS]Q^)dhpmM/^`b]vÒӇ œ £ ž q −2. −1.5. −1. −0.5. 0. 0.5. 1. Ô. 1.5.

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(6) hà s ‡E™ rž £  „”•‡ r i œ ·. g)dCW/\GRTUR]h`U`bRSM/^GM. —”˜‡š™ r  œ. ” ‡ rœ „ ‡ „ —†‡Ï—”3™Ç— @‡š™ r £ ž  „  r £ ›ž i ·  t ]QTa`bRc`b\GM/^GgG]f^GM/PSPSMo–1]QVUpv\GPSMogGRRS^kQM/VUTURS]Q^GMh_)nM/VNiC‡ žhœ TUR']h`U`bRSM/^GMh€ Œ ˆ ‡ œ £ r  r · Œ/‡ r £ Ž Êre› r q Š s ¿'dCVUM‚`bM,dCVURc`ZdhVUgG]fM[dh^`bRSW/RSn]@M.¶ WedhVbd0`U`bM/VURSX/Xed0`ZdCg)dhPSPSMoTUM/OQ\GM/^`bR'M/~\)dhX/RS]Q^GRz€ r ‡ œ re›œr r ‡Jà ž Ê / Œ ¥  Ó ‡ 0 Ž Œ Œ ‡ Œ/¥‡ r £ žQœ Ð £  £ · · ˆ  ˆ  Œ ˆ Œ/ Ê à   M/V}RSP;WedhPSW/]QPS]CgGM/PSPz´ d0`U`bM/^\)dhX/RS]Q^GMoTURY)d€ ¡  Œ ˆ ¡ÉŒ/ ‡ r  „” ‡!3‡ žhœ rœ ! ‡  ¡     ¡   Œ ˆ  „  „ .i  ¡ " ‡  Œˆ   # g)dCW/\GRTURVURSWedekhd€  o Ð ™ & % o Ð  ™ Ž $ ž  ™ rœ ¡ÇŽ$3‡ œ ‡ . . . . ž q d s ¿'dCVUM‚`U`ZdCgGRWedhVURSW/]@M ¶. i § © © ‡ r œ § ™i ª ' ª ‡ rœ ™ i ž q Š s)( pmn]Q^GM/^GgG]fWZYGM,PudvVUM‚`U`ZdfgGR;WedhVURSW/]fn)dhTUTUR'nM/V}RSPlnG\G^`b]˜x i · œ s TUR]h`U`bRSM/^GM iC‡ ri œ § µ § µ ‡ rœ . M ¶ pm]QTa`bVbd0`b] SR ^+*RSOGq r ¿À´ M/TUnGVUM/TUTURS]Q^GM ž q W sv M/VjiLJ žhœ _ Pz´ dh^Gg)dhpmM/^`b] gGM/PSPud˜–1\G^GX/RS]Q^GM@gGM/TUW/VURc`U`bRckhd ½jx ¾ s @ dh^)dhPSRc`bRSWed,gGM/PSPud–1\G^GX/RS]Q^GM[gGM/TUW/VURc`U`bRckhdC^GM/PnGVURSpm]v`bVbd0`U`b]@M ¶ ½jx ¾ s ‡ › ¾ , ( PnG\G^`b]mgGR;pmRS^GRSpm]vTURVbdhOQOQRS\G^GOQMonM/V¥¾¹‡ÏijMokhdhPSM ½jx i s ‡ › i , ( P;khdhPS]QVUM.dhTURS^`b]h`bRSW/]CWZYGM,TURVbdhOQOQRS\G^GOQMonM/V¥¾ .- M ¶ ½jx - s ‡ žhi œ ž q g sv ]QTa`b]  ‡ ›œ i %_Pz´ M/~\)dhX/RS]Q^GM[WedhVbd0`U`bM/VURSTa`bRSWedvgGM/PTURSTa`bM/pjdM ¶ 0y /¡ re› y  ¡ ›Q› y ¡ ›œ ¡  ‡ œ r ¡ xzy¡ rœs xzy ¡ žQs  ‡ œ  1.

(7) funzione descrittiva 2. 1.8. 1.6. 1.4. 1.2. 1. 0.8. 0.6. 0.4. 0.2. 0. 0. 20. 40. 60. 80. 100.    Ô

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(9) x hµÃ s gG]kQM w ˆ x

(10) hà µ s h‡  % rœ ¡Ïxuà µ s  ˆ µ >. 6.

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(12) ˆ s  Ê ¡

(13) ˆ Ï ‡ i ̕x s ‡ ̕xzy s    ‡Ïi žž xx rr ™™

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(15) ˆ s    ‰   ¡ ›

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(17) ¿'dCW/]QVUVURSTUn]Q^GgGM/^`bM[M/~\)dhX/RS]Q^GM,dhPSPSMogGRcÑlM/VUM/^GX/M[TUR'VURSWedekhdvg)dhPSPudvVUM/PudhX/RS]Q^GM „Íx s x  ¡ ›

(18) ˆ s ‡Ói΃x s x Ê ¡ r

(19) ˆ s . x s ‡ r  ™ › . xv™ rs ¡ Ê i ¨ x s ¡ i ¨ xv™ rs. .

(20) 8 9;:=<;> 3 .

(21)   É  8@?ACBED*FGA !#"É$ '&' ")(*('!  )' H.I ?0:JDK>  M/V.W/RudhTUW/\G^G]gGM/RKTUM/OQ\GM/^`bR`bM/Ta`[TUM/OQ^)dhVUMCW/]Q^•\G^)dƒW/VU]#W/M‚`U`ZdƒPSMCd0ÑlM/VUpjdhX/RS]Q^GR'WZYGMCTURKVURc`bM/^GOQ]Q^G]ƒOQRS\GTa`bMhq 5 P¼» W/\G^GR `bM/Ta`CTU]Q^G]˜TUM/OQ\GRc`bRg)d‹nGRb\ ¶ d0ÑlM/VUpjdhX/RS]Q^GR OQRS\GTa`bMjMƒTUR W/]Q^GTURSgGM/Vbdh^G]•TU\GnM/Vbd0`bR~\)dh^GgG]˜~\GM/Ta`bMƒkQM/^GOQ]Q^G] W/]Q^`bVbdhTUTUM/OQ^)d0`bM[`b\`U`bMhq r q  M/VdekQM/VUM\G^)d[ŠG\G]Q^)d,nGVU]Q^`bM/X/Xed,gGM/PSPud.VURSTUn]QTa`Zd[M/gj\G^mM/VUVU]QVUMd[VUM/OQRSpmM¥^\GPSPS][nM/V RS^GOQVUM/TUTU]dhP)OQVbdhgGRS^G] RS^@\G^@nGVU]#W/M/TUTU]ƒdekQM/^`bM,Pudv–1\G^GX/RS]Q^GM.gGR;`bVbdhTa–1M/VURSpmM/^`b]   ˆ  ˆ ‰  ‰ ‰  ‰    /  M.¶ nGRb\¶ W/]Q^kQM/^GRSM/^`bM  \G^3W/]Q^`bVU]QPSPS] (  \G^3W/]Q^`bVU]QPSPS]  :  \G^3W/]Q^`bVU]QPSPS]  ( : ž qÀLNM/PSPudvTURS^`bM/TURgGR\G^3VUM/OQ]QPud0`b]QVUM.̕xzy s _GPudCWedh^GW/M/PSPudhX/RS]Q^GMon]QPS]0» X/M/VU]M,¶ dhnGnGPSRSWedhŠGRSPSM  dhOQPSR;X/M/VURTa`ZdhŠGRSPSRlgGM/PTURSTa`bM/pjd  dhOQPSR;X/M/VURRS^GTa`ZdhŠGRSPSRgGM/P'TURSTa`bM/pjd  dhRn]QPSRlTa`ZdhŠGRSPSRlgGM/PTURSTa`bM/pjd  dhRn]QPSRlRS^GTa`ZdhŠGRSPSRlgGM/PTURSTa`bM/pjd Ê q 8ÀTURSTa`b]Q^G]fTURSTa`bM/pmRWZYGM[TURn]QTUTU]Q^G]mTa`ZdhŠGRSPSRSX/XedhVUMoW/]Q^3VUM‚`bR'dh^`bRSW/RSn)d0`bVURSW/Rlpjdv^G]Q^3W/]Q^3VUM‚`bRVURc`ZdhVUg)d0`bVURSW/R  TUR  ^G] › q ( PW/]Q^`bVU]QPSPS]  ( M.¶ nGVUM‚–1M/VURSŠGRSPSM.dhPW/]Q^`bVU]QPSPS]  :  ~\)dh^GgG]mRSP;pjdhVUOQRS^GMogGR;– dhTUMfM. ¶ –1]QVa`bM/pmM/^`bM[^GM/Od0`bRckQ]  ~\)dh^GgG]mTURk#\G]QPSM[dh\GpmM/^`ZdhVUM[PudvŠ)dh^Gg)dfn)dhTUTbdh^`bM,gGM/PTURSTa`bM/pjd  ~\)dh^GgG]mPz´ ]QŠGŠGRSM‚`U`bRckQ]vnGVURS^GW/RSn)dhPSMvM. ¶ ~\GM/PSPS]CgGRVURSgG\GVUVUMoPz´ M/VUVU]QVUM[dCVUM/OQRSpmM^GM/PSPudvVURSTUn]QTa`ZdCdhP;OQVbdhgGRS^G] Ð#q  M/V.Ta`ZdhŠGRSPSRSX/XedhVUM,\G^•TURSTa`bM/pjdƒW/]QTa`bRc`b\GRc`b]jg)dƒ\G^ VURc`ZdhVUgG]jnG\GVU]G_;]h`U`bM/^GM/^GgG]@^GM/PKW/]Q^`bM/pmn]\G^•M/VUVU]QVUMCd VUM/OQRSpmMo^\GPSPS]C^GM/PSPudvVURSTUn]QTa`ZdfdhPOQVbdhgGRS^G]G_W/]Q^k#RSM/^GM,TUW/M/OQPSRSM/VUM  \G^3W/]Q^`bVU]QPSPS]   \G^3W/]Q^`bVU]QPSPS]  :  \G^3W/]Q^`bVU]QPSPS]  ( ¶ W/]Q^JTU]QOQPSRudM˜g)dÉ\G^)d%n)dhVa`bM•PSRS^GMedhVUM˜dekQM/^`bM Pud  q Ë ^JTURSTa`bM/pjd%RS^JVUM‚`bVU]dhX/RS]Q^GM˜W/]Qpmn]QTa`b]%g)dÉ\G^JVUM/PzM• –1\G^GX/RS]Q^GM.gGR;`bVbdhTa–1M/VURSpmM/^`b]m.    yx r ¡ÉŒ ˆ y s x r ¡ÉŒ/ y s  W/]Q^@Œ ˆ Å œ M.Œ/NÅ œ  nGVUM/TUM/^`ZdmTUM/pmnGVUM,]QTUW/RSPSPudhX/RS]Q^GR  nG\{]m ¶ ^G]Q^3nGVUM/TUM/^`ZdhVUM,]QTUW/RSPSPudhX/RS]Q^GR  ^G]Q^3nGVUM/TUM/^`ZdmpjdhR;]QTUW/RSPSPudhX/RS]Q^GR  q t Rud ª

(22) x s  ˆ TURS^xuà 0¡— ˆ s Pz´ dhVUpm]Q^GRSWed}–1]Q^Gg)dhpmM/^`ZdhPSMgGM/PGTUM/OQ^)dhPSMgGR\GTUW/Rc`ZdogGRG\G^)do^G]Q^CPSRS^GMedhVURc`0dN¶ TURSpC» pmM‚`bVURSWed¥VURSTUnM‚`U`b]NdhPSPz´ ]QVURSOQRS^GM~\)dh^GgG]NRS^,RS^GOQVUM/TUTU],M ¶ nGVUM/TUM/^`bMPud¥TURS^\GTU]QRSgGMÀ¾ETURS^Ã q{¿'d}W/]QVUVURSTUn]Q^GgGM/^`bM –1\G^GX/RS]Q^GM.gGM/TUW/VURc`U`bRckhdf½jx ¾ s M ¶  ½jx ¾ s  ‡    ¨    ½jx ¾ s ‡    ¨

(23)    \G^)dC–1\G^GX/RS]Q^GM[W/]QpmnGPSM/TUTbdCgGM/PSPz´ dhpmnGRSM/X/Xed,¾ gGM/PTUM/OQ^)dhPSM.gGRRS^GOQVUM/TUTU]  \G^)dC–1\G^GX/RS]Q^GM[W/]QpmnGPSM/TUTbdCgGM/PSPudvnG\GPSTbdhX/RS]Q^GMÃÄgGM/PTUM/OQ^)dhPSM.gGRRS^GOQVUM/TUTU]. .

(24)  qÀ¿'dCnG\GPSTbdhX/RS]Q^GMÃ. RS^@W/\GRPudvVUM‚`bM,dh^`bRSW/RSn)d0`bVURSW/M.wjxzy s ‡ ˆ ˆ        nGVUM/TUM/^`ZdmRSPlpjdhTUTURSpm]fdh^`bRSW/RSn]M ¶. ‡   ˆ   à ‡     à ‡     à ‡ ˆ   Žq ( P¥pmM‚`b]#gG] gGR lRSM/OQPSM/V » LNRSWZYG]QPSTnM/VfgGM‚`bM/VUpmRS^)dhVUMRkhdhPS]QVURgGR¥nGVURSpm]˜`bM/^`Zd0`bRckQ]†gGM/R¥n)dhVbdhpmM‚`bVUR¥gGR¥\G^ VUM/OQ]QPud0`b]QVUMoTa`Zdh^Gg)dhVUg  ( :  VURSWZYGRSM/gGM[PudvW/]Q^G]QTUW/M/^GXedmM/Tbd0`U`ZdfgGM/Ppm]#gGM/PSPS]vgGM/PTURSTa`bM/pjdCg)dfW/]Q^`bVU]QPSPudhVUM  VURSWZYGRSM/gGM[PudvW/]Q^G]QTUW/M/^GXedmgGM/PSPudvVURSTUn]QTa`ZdCRSpmnG\GPSTURckhdgGM/PTURSTa`bM/pjdCg)dfW/]Q^`bVU]QPSPudhVUM  VURSWZYGRSM/gGM[PudvW/]Q^G]QTUW/M/^GXedmgGM/PSPudvVURSTUn]QTa`ZdfdhPOQVbdhgGRS^G]CgGM/PTURSTa`bM/pjdCg)dCW/]Q^`bVU]QPSPudhVUM  M, ¶ dhnGnGPSRSWedhŠGRSPSMRS^@pm]#gG]fdhnGnGVU]QTUTURSpjd0`b]fdh^GWZYGMdhP;W/]Q^`bVU]QPSPS]CgGRTURSTa`bM/pmR;^G]Q^3PSRS^GMedhVUR ‡ Kx © s gGM‚kQMh€ rœ q  M/V}n]h`bM/VNdhnGnGPSRSWedhVUMoRSP;W/VURc`bM/VURS]CgGM/PW/M/VUWZYGRS]G_)PudvWedhVbd0`U`bM/VURSTa`bRSWedv^G]Q^3PSRS^GMedhVUM ª   M/TUTUM/VUMgGR;`bRSn]fdhPSOQM/ŠGVURSW/]  gGM‚kQMM/TUTUM/VUM,\G^)dC–1\G^GX/RS]Q^GM.PSRSpmRc`Zd0`Zd,TU\GnM/VURS]QVUpmM/^`bM  n)dhTUTbdhVUM,nM/V}Pz´ ]QVURSOQRS^GM  M/TUTUM/VUMTURSpmpmM‚`bVURSWedVURSTUnM‚`U`b]mdhPSPz´ ]QVURSOQRS^GM d ¥» `bVbdhTa–1]QVUpjd0`ZdgGM/PSPudvTUM/~\GM/^GXed © x Ò s q ( P;`bM/]QVUM/pjdCgGM/P;khdhPS]QVUMoº)^)dhPSM[d0ÑlM/VUpjdvWZYGM rQr q t Rud¾Çx s Pu  © x - s ‡ÓPSRS. p

(25) ‰ ¾Çx s  © x - s ‡ÓPSRS. p

(26) ˆ ¾Çx s  © x - s ‡ÓPSRS. p

(27) ‰ x r ™

(28) ˆ s ¾Çx s  © x - s ‡ÓPSRS. p

(29) ˆ x r ™

(30) ˆ s ¾Çx s d ,» `bVbdhTa–1]QVUpjd0`Zd¾Çx s gGM/PSPudvVbdhpmn)dC\G^GRc`ZdhVURud © x  s ‡ ~\)dh^GgG]fÒ ‡ r M ¶ rž qK¿'  ¾Çx s ‡  ˆ ˆ  

(31)  ¾Çx s ‡   ˆ 

(32) ˆ  ¾Çx s ‡  ˆ     ¾Çx s ‡  ˆ    q ' P e W h d m p G n S R Q ] ) ^ h d m p / M ^`b]fRSpmnG\GPSTURckQ]fgGR{nM/VURS]#gG]CÒEgGM‚`bM/VUpmRS^)dfRSPTUM/OQ\GM/^`bMvPSM/OdhpmM.`bM/]QVURSW/]f`bVbdmRSPnGRudh^G]ƒyM rÊ ( RSPlnGRudh^G]  ‡ ¨

(33)   yo‡ ¨

(34)   ‡ ¨   yo‡ ¨  re› qK¿M}–1\G^GX/RS]Q^GRw ˆ x s ‡ ‰   Mow[x s ‡  ‰   VbdhnGnGVUM/TUM/^`Zdh^G]vgG\GMTU\GW/W/M/TUTURS]Q^GRlgGR^\GpmM/VUR  ˆ x  s M hx  s

(35)  M/^`bVbdhpvŠM[Ta`ZdhŠGRSPSR  M/^`bVbdhpvŠM[W/]QTa`bRc`b\GRc`bM.g)dCTU]QPSR;^\GpmM/VURn]QTURc`bRck#R  M/^`bVbdhpvŠM[WZYGM[`bM/^GgG]Q^G]jdCX/M/VU]mW/]Q^3PudvTa`bM/TUTb d  kQM/PS]#W/Rc`0d ¶ C~\)dh^GgG]  .. Ã. .

(36)

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