{
 "cells": [
  {
   "cell_type": "raw",
   "id": "683eb840-1063-4def-ab3b-206865488afc",
   "metadata": {
    "raw_mimetype": "text/latex"
   },
   "source": [
    "\\title{古典制御(伝達関数表示)から現代制御(状態空間表示)へ}\n",
    "\\author{YAMAMOTO, Noboru \\thanks{mail-to:noboru.yamamoto at kek.jp}, \\\\J-PARC/KEK, Tsukuba, Japapn}\n",
    "\\date{\\today}"
   ]
  },
  {
   "cell_type": "raw",
   "id": "2b4e150e-5801-41fe-b070-c3e54cff579d",
   "metadata": {
    "raw_mimetype": "text/markdown"
   },
   "source": [
    "----\n",
    "title: 古典制御(伝達関数表示)から現代制御(状態空間表示)へ\n",
    "author: YAMAMOTO, Noboru  \\\\J-PARC/KEK, Tsukuba, Japapn\n",
    "date:  \\today\n",
    "----"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "60763476-d5d3-42bb-9cfe-25cad150da01",
   "metadata": {
    "jp-MarkdownHeadingCollapsed": true
   },
   "source": [
    "# はじめに\n",
    "\n",
    "これは、古典制御理論と現代制御理論の関係を調べた計算ノートのようなものです。\n",
    "古典制御理論(伝達関数表示）で記述された制御対称を現代制御理論（状態空間表示）で表現してみて、\n",
    "それぞれの制御方式で制御した際の振る舞いを比較してみました。\n",
    "\n",
    "現代制御理論の状態フィードバックのパラメータは古典制御理論のPID制御のようなわかりやすさにかけるのも、現代制御理論が受け入れられない\n",
    "原因の一つかもしれません、状態フィードバックのパラメータの取り扱いについて、一つの提案をしています。この方法は取り扱いやすく、\n",
    "かつ安定なフィードバックを実現できるので、使いやすいのではと思っています。ご意見をお聞かせいただければ、嬉しく思います。\n",
    "\n",
    "このノートはまた、Python/controlモジュールの使い方の一例を示すものにもなっていると思います。ここで取り上げているのは、古典/現代　制御理論\n",
    "の入門で取り上げられるような機能しか使っておりません。python/controlでは非線形のシステムの解析などにも役立つ関数が用意されているようです。\n",
    "python/controlへのお誘いとして、役に立てばいいのですが。\n",
    "\n",
    "最初はPythonプログラムは無視して、グラフなどを眺めるだけでもいいかと思います。興味がわいたところで、いろいろパラメータを換えてみるなど\n",
    "試してみると面白いでしょう。\n",
    "\n",
    "では、始めましょう。\n",
    "\n",
    "# 伝達関数から状態空間表示へ\n",
    "\n",
    "時間によって変化しない線形なシステム(Liner Time Independent System:LTI) の制御については\n",
    "伝達関数表示を用いる古典制御理論と\n",
    "状態変数表示を使う現代制御理論の\n",
    "二つがよく知られています。単一入力単一出力(SISO)のシステムでは、これら二つの表示を行き来することは\n",
    "簡単です。このメモでは、一つの制御対象を例題に二つの制御理論の関係をみていきたいと思います。 \n",
    "状態空間表示では、入力と出力のいずれか、あるいは両方が複数あるシステム(MIMO)も同様に取り扱えるという優位性があります。\n",
    "\n",
    "\n",
    "## 制御対象システム\n",
    "このメモで取り上げる制御対象となるシステムとして、「Python による制御工学入門」第5章の垂直駆動アームをの例題を使います。\n",
    "この系は、振り子を振り上げるモータの制御入力に対して、振り子の角度が制御出力となるSISOシステムです。\n",
    "\n",
    "制御対象の運動方程式は、\n",
    "$$\n",
    "J\\ddot{\\theta}= -\\mu \\dot{\\theta} - M g l \\sin{\\theta} + \\tau(t)\n",
    "$$\n",
    "となります。$\\tau(t)$ はモータのトルクとします。\n",
    "\n",
    "このままでは、出力 $\\theta$に対して、非線形となっていますので、LTIシステムとして取り扱うことができません。微小な $\\theta$ に制限することで、システムを線形化します。\n",
    "\n",
    "$$\n",
    "J\\ddot{\\theta}= -\\mu \\dot{\\theta} - M g l \\theta + \\tau(t)\n",
    "$$\n",
    "\n",
    "この方程式を、行列表記をつかって、\n",
    "\n",
    "$$\n",
    "\\frac{d}{dt} \\begin{bmatrix}\\theta \\\\ \\dot{\\theta}\\end{bmatrix} =  \\begin{bmatrix} 0, & 1 \\\\  -\\frac{M g l}{J},& -\\frac{\\mu}{J}\\\\ \\end{bmatrix} \\begin{bmatrix}\\theta \\\\ \\dot{\\theta} \\end{bmatrix} +\\begin{bmatrix}0 \\\\ \\tau(t)\\end{bmatrix}\n",
    "$$\n",
    "\n",
    "と書き直せることに注意しましょう。\n",
    "\n",
    "運動方程式をラプラス変換し、整理することで、制御対象は、次の伝達関数で表現されることがわかります。\n",
    "\n",
    "$$\n",
    " \\theta(s)= \\frac{1}{ J s^2 + \\mu s + M g l} \\tau(s)\n",
    "$$\n",
    "\n",
    "ここで、Python による制御工学入門」に従って、制御の無駄時間(遅れ）を導入します。制御では、出力値$y$ (ここでは$\\theta$)の測定を行い、入力値$u$ (ここでは$\\tau$)を決定し、\n",
    "システムの入力としますが、このプロセスに生じる時間の遅れを制御の無駄時間と呼んでいます。\n",
    "後で見るように、無駄時間(delay)の導入によって、フィードバックシステムの発振が起こります。\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "a4240200-2302-4552-9c07-8a3e8c952947",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "numpy.__version__='1.24.2',control.__version__='0.9.3.post2',matplotlib.__version__='3.7.1'\n"
     ]
    }
   ],
   "source": [
    "import control, numpy, matplotlib\n",
    "print(f\"{numpy.__version__=},{control.__version__=},{matplotlib.__version__=}\")\n",
    "# import sympy, sympy.physics.control,sympy.abc\n",
    "from numpy import diag,matrix,eye,diag, matmul\n",
    "from numpy.linalg import eig, matrix_rank\n",
    "from control import tf2ss, ss2tf,tf,ss,impulse_response, step_response, initial_response\n",
    "from control.matlab import linspace, logspace\n",
    "import  matplotlib.pyplot as pyplot\n",
    "# グラフの既定の設定を変更する。\n",
    "control.reset_defaults()\n",
    "# control.use_fbs_defaults()\n",
    "# control.use_matlab_defaults()\n",
    "# control.use_numpy_matrix(flag=True, warn=True)\n",
    "# control.use_legacy_defaults(\"0.8.4\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "5db6ce90-c239-4505-96ea-bdaf590e732b",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "無駄時間の伝達関数:\n",
      " \n",
      "-s + 400\n",
      "--------\n",
      "s + 400\n",
      "\n",
      "最小実現(時間遅れ無): \n",
      "       100\n",
      "------------------\n",
      "s^2 + 1.5 s + 98.1\n",
      "\n",
      "最小実現(時間遅れ有): \n",
      "           -100 s + 4e+04\n",
      "-------------------------------------\n",
      "s^3 + 401.5 s^2 + 698.1 s + 3.924e+04\n",
      "\n",
      "二つのシステムの零点と極の位置を求めてみましょう。\n",
      "極(時間遅れ無)： [-0.75+9.87610753j -0.75-9.87610753j] 零点:(時間遅れ無) []\n",
      "極(時間遅れ有)： [-400.  +0.j           -0.75+9.87610753j   -0.75-9.87610753j] 零点(時間遅れ有): [400.+0.j]\n",
      "DCgain:(時間遅れ無) 1.0193679918450558 (時間遅れ有) 1.019367991845054\n"
     ]
    }
   ],
   "source": [
    "# ## モデルの設定\n",
    "# model:「Python による制御工学入門」　リスト 5.1 144ページ\n",
    "g=9.81\n",
    "l=0.2\n",
    "M=0.5\n",
    "Mgl=M*g*l\n",
    "mu=1.5e-2\n",
    "J=1.0e-2\n",
    "ref=30 \n",
    "\n",
    "# 測定の時間送れをパデ近似を使って設定します。\n",
    "delay=0.005\n",
    "num_delay,den_delay=control.pade(delay,1) #ここでパデ近似の次数を指定します。\n",
    "delay_tf=tf(num_delay,den_delay)\n",
    "print(\"無駄時間の伝達関数:\\n\",delay_tf.minreal())\n",
    "#\n",
    "Plant0=tf([ 1],[J, mu, Mgl],name=\"制御モデル 時間遅れ無\",inputs=\"r\",outputs=\"y\").minreal()\n",
    "# add delay with pade approximation\n",
    "Plant=(delay_tf*Plant0).minreal()\n",
    "Plant.name=\"制御モデル 時間遅れ有\"\n",
    "print(\"最小実現(時間遅れ無):\",Plant0)\n",
    "print(\"最小実現(時間遅れ有):\",Plant)\n",
    "print(\"二つのシステムの零点と極の位置を求めてみましょう。\")\n",
    "print(\"極(時間遅れ無)：\",Plant0.poles(),\"零点:(時間遅れ無)\",Plant0.zeros())\n",
    "print(\"極(時間遅れ有)：\", Plant.poles(),\"零点(時間遅れ有):\",Plant.zeros())\n",
    "print(\"DCgain:(時間遅れ無)\",Plant0.dcgain(),\"(時間遅れ有)\",Plant.dcgain())"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "9a1b4140-faab-4378-b5c5-9c79e75bc343",
   "metadata": {},
   "source": [
    "### モデルの時間応答グラフ\n",
    "モデルの制御無の状態での時間応答のグラフを作成します。controlには、forced_response, impulse_response, initial_response,step_response,\n",
    "input_output_responseといったシステムの時間応答を求める関数が用意されています。ここでは、ステップ応答とインパルス応答を時間遅れ有／無の二つで\n",
    "比較してみます。 生成した時間応答データのグラフ化には、matplotlibを使います。\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "8f009480-af8d-45b2-904f-231f74c9eb15",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1152x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,1)\n",
    "fig.set_size_inches(10,5)\n",
    "axes[0].set_title(\"Step Resonse\");axes[1].set_title(\"impulse Resonse\");\n",
    "axes[1].set_xlabel(\"t\");\n",
    "axes[0].set_ylabel(r\"$\\theta$\");axes[1].set_ylabel(r\"$\\theta$\");\n",
    "\n",
    "axes[0].axhline(1);axes[1].axhline(0);\n",
    "fig.tight_layout();fig.set_size_inches((16,5))\n",
    "\n",
    "T=linspace(0,1,4096)\n",
    "\n",
    "#無駄時間なしシステムの時間応答\n",
    "sres=step_response(Plant0,T)\n",
    "ires=impulse_response(Plant0,T)\n",
    "axes[0].plot(sres.t, sres.y[0,0,:], ls=\"-\",label=\"Plant0\")\n",
    "axes[1].plot(ires.t, ires.y[0,0,:], ls=\"-\")\n",
    "\n",
    "#無駄時間なありシステムの時間応答\n",
    "sres=step_response(Plant,T)\n",
    "ires=impulse_response(Plant,T)\n",
    "axes[0].plot(sres.t, sres.y[0,0,:],ls=\"-.\", label=\"Plant\")\n",
    "axes[1].plot(ires.t, ires.y[0,0,:],ls=\"-.\")\n",
    "\n",
    "fig.legend();"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "ccfd3965-c767-4bfc-9157-81b901e7c8ad",
   "metadata": {},
   "source": [
    "## P制御付きシステムの時間応答\n",
    "モデルにP制御のフィードバックを追加してみます。時間遅れが存在することによって、大きなフィードバック係数の場合にはシステムが不安定になることを確認しましょう。\n",
    "\n",
    "\n",
    "### control.feedback\n",
    "\n",
    "python/control module にはフィードバックループを作成するための関数　`control.feedback` 関数が用意されています。\n",
    "関数のプロトタイプは、\n",
    "```\n",
    "contro.feedback(SYS1, SYS2=1, sign=-1)\n",
    "```\n",
    "で、フィードバックループを表現する伝達関数あるいは、状態変数表示を値として返します。\n",
    "作成された State オブジェクトは プライマリの　State：SYS1と同じ、入力と出力を持ちます。\n",
    "次のセルのGraphvizで作成した図を参考にしてください。\n",
    "\n",
    "また、伝達関数(`tf`)や状態変数表示(`ss`)のオブジェクトにも、feedbackメソッドが存在します。`control.feedback(SYS1, SYS2, sign)`と\n",
    "`SYS1.feedback(SYS2,sign)` は等価です。\n",
    "\n",
    "これらの関数／メソッドによるダイアグラムを graphviz を使って作成します。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "8d5a5458-8d50-4e42-a49d-08c84af2b2f8",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/svg+xml": [
       "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\"?>\n",
       "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\"\n",
       " \"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n",
       "<!-- Generated by graphviz version 2.41.20180302.1211 (20180302.1211)\n",
       " -->\n",
       "<!-- Title: G Pages: 1 -->\n",
       "<svg width=\"414pt\" height=\"154pt\"\n",
       " viewBox=\"0.00 0.00 414.00 154.00\" xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">\n",
       "<g id=\"graph0\" class=\"graph\" transform=\"scale(1 1) rotate(0) translate(4 150)\">\n",
       "<title>G</title>\n",
       "<polygon fill=\"white\" stroke=\"transparent\" points=\"-4,4 -4,-150 410,-150 410,4 -4,4\"/>\n",
       "<text text-anchor=\"middle\" x=\"203\" y=\"-7.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">control.feedback(Sys1,Sys2,sign) or Sys1.feedback(Sys2,sign)</text>\n",
       "<!-- input -->\n",
       "<g id=\"node1\" class=\"node\">\n",
       "<title>input</title>\n",
       "<text text-anchor=\"middle\" x=\"72.25\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">input</text>\n",
       "</g>\n",
       "<!-- mixer -->\n",
       "<g id=\"node2\" class=\"node\">\n",
       "<title>mixer</title>\n",
       "<ellipse fill=\"none\" stroke=\"black\" cx=\"138.25\" cy=\"-128\" rx=\"3.5\" ry=\"3.5\"/>\n",
       "</g>\n",
       "<!-- input&#45;&gt;mixer -->\n",
       "<g id=\"edge1\" class=\"edge\">\n",
       "<title>input&#45;&gt;mixer</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M99.48,-128C108.1,-128 117.28,-128 124.53,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"124.75,-131.5 134.75,-128 124.75,-124.5 124.75,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"117\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">r</text>\n",
       "</g>\n",
       "<!-- Sys1 -->\n",
       "<g id=\"node7\" class=\"node\">\n",
       "<title>Sys1</title>\n",
       "<polygon fill=\"none\" stroke=\"black\" points=\"231.25,-146 177.25,-146 177.25,-110 231.25,-110 231.25,-146\"/>\n",
       "<text text-anchor=\"middle\" x=\"204.25\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">Sys1</text>\n",
       "</g>\n",
       "<!-- mixer&#45;&gt;Sys1 -->\n",
       "<g id=\"edge2\" class=\"edge\">\n",
       "<title>mixer&#45;&gt;Sys1</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M141.8,-128C146.87,-128 156.74,-128 167.16,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"167.19,-131.5 177.19,-128 167.19,-124.5 167.19,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"159.5\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">u</text>\n",
       "</g>\n",
       "<!-- output -->\n",
       "<g id=\"node3\" class=\"node\">\n",
       "<title>output</title>\n",
       "<text text-anchor=\"middle\" x=\"333.25\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">output</text>\n",
       "</g>\n",
       "<!-- splitter -->\n",
       "<g id=\"node4\" class=\"node\">\n",
       "<title>splitter</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"268.25\" cy=\"-128\" rx=\"1.8\" ry=\"1.8\"/>\n",
       "</g>\n",
       "<!-- splitter&#45;&gt;output -->\n",
       "<g id=\"edge4\" class=\"edge\">\n",
       "<title>splitter&#45;&gt;output</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M270.13,-128C274.21,-128 284.41,-128 295.46,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"295.68,-131.5 305.68,-128 295.68,-124.5 295.68,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"287.9\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">y</text>\n",
       "</g>\n",
       "<!-- corner2 -->\n",
       "<g id=\"node6\" class=\"node\">\n",
       "<title>corner2</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"267.25\" cy=\"-41\" rx=\"0.72\" ry=\"0.72\"/>\n",
       "</g>\n",
       "<!-- splitter&#45;&gt;corner2 -->\n",
       "<g id=\"edge5\" class=\"edge\">\n",
       "<title>splitter&#45;&gt;corner2</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M268.24,-126.05C268.15,-118.86 267.61,-73.02 267.37,-52.23\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"270.87,-52.01 267.25,-42.05 263.87,-52.09 270.87,-52.01\"/>\n",
       "<text text-anchor=\"middle\" x=\"271.25\" y=\"-80.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">y</text>\n",
       "</g>\n",
       "<!-- corner1 -->\n",
       "<g id=\"node5\" class=\"node\">\n",
       "<title>corner1</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"141.25\" cy=\"-41\" rx=\"0.72\" ry=\"0.72\"/>\n",
       "</g>\n",
       "<!-- corner1&#45;&gt;mixer -->\n",
       "<g id=\"edge6\" class=\"edge\">\n",
       "<title>corner1&#45;&gt;mixer</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M141.25,-42.05C141.19,-43.77 139.53,-90.72 138.71,-114.07\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"135.2,-114.05 138.35,-124.17 142.2,-114.3 135.2,-114.05\"/>\n",
       "<text text-anchor=\"middle\" x=\"161.75\" y=\"-80.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">sign*fb</text>\n",
       "</g>\n",
       "<!-- Sys2 -->\n",
       "<g id=\"node8\" class=\"node\">\n",
       "<title>Sys2</title>\n",
       "<polygon fill=\"none\" stroke=\"black\" points=\"231.25,-59 177.25,-59 177.25,-23 231.25,-23 231.25,-59\"/>\n",
       "<text text-anchor=\"middle\" x=\"204.25\" y=\"-37.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">Sys2</text>\n",
       "</g>\n",
       "<!-- corner1&#45;&gt;Sys2 -->\n",
       "<g id=\"edge8\" class=\"edge\">\n",
       "<title>corner1&#45;&gt;Sys2</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M152.32,-41C160.58,-41 168.85,-41 177.12,-41\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"152.23,-37.5 142.23,-41 152.23,-44.5 152.23,-37.5\"/>\n",
       "</g>\n",
       "<!-- Sys1&#45;&gt;splitter -->\n",
       "<g id=\"edge3\" class=\"edge\">\n",
       "<title>Sys1&#45;&gt;splitter</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M231.25,-128C239.54,-128 247.83,-128 256.12,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"256.23,-131.5 266.23,-128 256.23,-124.5 256.23,-131.5\"/>\n",
       "</g>\n",
       "<!-- Sys2&#45;&gt;corner2 -->\n",
       "<g id=\"edge7\" class=\"edge\">\n",
       "<title>Sys2&#45;&gt;corner2</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M241.46,-41C249.78,-41 258.09,-41 266.41,-41\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"241.32,-37.5 231.32,-41 241.32,-44.5 241.32,-37.5\"/>\n",
       "</g>\n",
       "</g>\n",
       "</svg>\n"
      ],
      "text/plain": [
       "<graphviz.graphs.Digraph at 0x12a01aa00>"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "\"\"\"\n",
    "## control.feedback(Sys1,Sys2,sign)\n",
    "\"\"\"\n",
    "#pip install -U graphviz\n",
    "import graphviz\n",
    "g=graphviz.Digraph(\"G\", graph_attr={\"rankdir\":\"TB\",\"rank\":\"same\"},engine=\"dot\") # or circo\n",
    "g.attr(fontname=\"Helvetica,Arial,sans-serif\")\n",
    "g.attr(label=\"control.feedback(Sys1,Sys2,sign) or Sys1.feedback(Sys2,sign)\")\n",
    "#g.attr(orientation=\"L\")\n",
    "\n",
    "g.attr(\"node\",fontname=\"Helvetica,Arial,sans-serif\")\n",
    "g.attr(\"edge\",fontname=\"Helvetica,Arial,sans-serif\")\n",
    "\n",
    "g.node(\"input\", shape=\"plaintext\")\n",
    "g.node(\"mixer\", label=\"\", shape=\"ellipse\", height=\"0.1\", width=\"0.1\",)\n",
    "g.node(\"output\", shape=\"plaintext\")\n",
    "g.node(\"splitter\", label=\"\", shape=\"point\", height=\"0.05\", width=\"0.05\")\n",
    "g.node(\"corner1\", label=\"\", shape=\"point\", height=\"0.02\", width=\"0.02\")\n",
    "g.node(\"corner2\", label=\"\", shape=\"point\", height=\"0.02\", width=\"0.02\")\n",
    "\n",
    "g.node(\"Sys1\",shape=\"box\")\n",
    "g.node(\"Sys2\",shape=\"box\")\n",
    "\n",
    "with g.subgraph(name=\"upper\") as sg:\n",
    "  sg.graph_attr['rankdir']='LR'\n",
    "  sg.graph_attr['rank']='same'\n",
    "  sg.edge(\"input\",\"mixer\", label=\"r\")\n",
    "  sg.edge(\"mixer\",\"Sys1\", label=\"u\")\n",
    "  sg.edge(\"Sys1\",\"splitter\")\n",
    "  sg.edge(\"splitter\",\"output\",label=\"y\")\n",
    "  \n",
    "g.edge(\"splitter\",\"corner2\",label=\"y\")\n",
    "g.edge(\"corner1\",\"mixer\",label=\"sign*fb\")\n",
    "\n",
    "with g.subgraph(name=\"lower\") as sg:\n",
    "  sg.attr(\"graph\",rankdir=\"LR\",rank=\"same\")\n",
    "  sg.edge(\"Sys2\",\"corner2\",dir=\"back\")\n",
    "  sg.edge(\"corner1\",\"Sys2\",dir=\"back\")\n",
    "g"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "8af6c159-810f-4f90-861e-87fe469e247f",
   "metadata": {},
   "source": [
    "### P制御\n",
    "時間遅れ有のモデル(`Plant`)に異なるゲイン($K$)のP制御を追加したシステム $\\frac{ P K}{1 + P K}$の時間応答を調べてみます。\n",
    "このフィードバックされたシステムは、`control.feedback(P*K, 1, -1)`あるいは `(P*K).feedback()`と書くことができます。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "97d96107-5af1-4f80-b363-b13c674ebc43",
   "metadata": {},
   "outputs": [
    {
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       " -->\n",
       "<!-- Title: G Pages: 1 -->\n",
       "<svg width=\"414pt\" height=\"154pt\"\n",
       " viewBox=\"0.00 0.00 413.50 154.00\" xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">\n",
       "<g id=\"graph0\" class=\"graph\" transform=\"scale(1 1) rotate(0) translate(4 150)\">\n",
       "<title>G</title>\n",
       "<polygon fill=\"white\" stroke=\"transparent\" points=\"-4,4 -4,-150 409.5,-150 409.5,4 -4,4\"/>\n",
       "<text text-anchor=\"middle\" x=\"202.75\" y=\"-7.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">control.feedback(P*K, 1, &#45;1) or (P*K).feedback())</text>\n",
       "<!-- input -->\n",
       "<g id=\"node1\" class=\"node\">\n",
       "<title>input</title>\n",
       "<text text-anchor=\"middle\" x=\"27\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">input</text>\n",
       "</g>\n",
       "<!-- mixer -->\n",
       "<g id=\"node2\" class=\"node\">\n",
       "<title>mixer</title>\n",
       "<ellipse fill=\"none\" stroke=\"black\" cx=\"93\" cy=\"-128\" rx=\"3.5\" ry=\"3.5\"/>\n",
       "</g>\n",
       "<!-- input&#45;&gt;mixer -->\n",
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       "<title>input&#45;&gt;mixer</title>\n",
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       "<polygon fill=\"black\" stroke=\"black\" points=\"79.5,-131.5 89.5,-128 79.5,-124.5 79.5,-131.5\"/>\n",
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       "</g>\n",
       "<!-- K -->\n",
       "<g id=\"node7\" class=\"node\">\n",
       "<title>K</title>\n",
       "<polygon fill=\"none\" stroke=\"black\" points=\"186,-146 132,-146 132,-110 186,-110 186,-146\"/>\n",
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       "</g>\n",
       "<!-- mixer&#45;&gt;K -->\n",
       "<g id=\"edge2\" class=\"edge\">\n",
       "<title>mixer&#45;&gt;K</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M96.55,-128C101.62,-128 111.49,-128 121.91,-128\"/>\n",
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       "<!-- output -->\n",
       "<g id=\"node3\" class=\"node\">\n",
       "<title>output</title>\n",
       "<text text-anchor=\"middle\" x=\"378\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">output</text>\n",
       "</g>\n",
       "<!-- corner1 -->\n",
       "<g id=\"node4\" class=\"node\">\n",
       "<title>corner1</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"163\" cy=\"-41\" rx=\"0.72\" ry=\"0.72\"/>\n",
       "</g>\n",
       "<!-- corner1&#45;&gt;mixer -->\n",
       "<g id=\"edge8\" class=\"edge\">\n",
       "<title>corner1&#45;&gt;mixer</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M162.96,-42.05C161.45,-43.89 119.23,-95.15 101.12,-117.14\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"98.39,-114.95 94.73,-124.9 103.79,-119.4 98.39,-114.95\"/>\n",
       "<text text-anchor=\"middle\" x=\"139.5\" y=\"-80.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">&#45;1</text>\n",
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       "<!-- U -->\n",
       "<g id=\"node9\" class=\"node\">\n",
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       "<polygon fill=\"none\" stroke=\"black\" points=\"265,-59 211,-59 211,-23 265,-23 265,-59\"/>\n",
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       "</g>\n",
       "<!-- corner1&#45;&gt;U -->\n",
       "<g id=\"edge6\" class=\"edge\">\n",
       "<title>corner1&#45;&gt;U</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M174.14,-41C186.35,-41 198.57,-41 210.78,-41\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"173.88,-37.5 163.88,-41 173.88,-44.5 173.88,-37.5\"/>\n",
       "</g>\n",
       "<!-- splitter -->\n",
       "<g id=\"node5\" class=\"node\">\n",
       "<title>splitter</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"313\" cy=\"-128\" rx=\"1.8\" ry=\"1.8\"/>\n",
       "</g>\n",
       "<!-- splitter&#45;&gt;output -->\n",
       "<g id=\"edge5\" class=\"edge\">\n",
       "<title>splitter&#45;&gt;output</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M314.88,-128C318.96,-128 329.16,-128 340.21,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"340.43,-131.5 350.43,-128 340.43,-124.5 340.43,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"332.65\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">y</text>\n",
       "</g>\n",
       "<!-- corner2 -->\n",
       "<g id=\"node6\" class=\"node\">\n",
       "<title>corner2</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"307\" cy=\"-41\" rx=\"0.72\" ry=\"0.72\"/>\n",
       "</g>\n",
       "<!-- splitter&#45;&gt;corner2 -->\n",
       "<g id=\"edge9\" class=\"edge\">\n",
       "<title>splitter&#45;&gt;corner2</title>\n",
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       "<!-- K&#45;&gt;P -->\n",
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       "<title>K&#45;&gt;P</title>\n",
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     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "\"\"\"\n",
    "## control.feedback(Plant*K, 1, -1) or (Plant*K).feedback()\n",
    "\"\"\"\n",
    "#pip install -U graphviz\n",
    "import graphviz\n",
    "g=graphviz.Digraph(\"G\", graph_attr={\"rankdir\":\"TB\",\"rank\":\"same\"},engine=\"dot\") \n",
    "g.attr(fontname=\"Helvetica,Arial,sans-serif\")\n",
    "g.attr(label=\"control.feedback(P*K, 1, -1) or (P*K).feedback())\")\n",
    "#g.attr(orientation=\"L\")\n",
    "\n",
    "g.attr(\"node\",fontname=\"Helvetica,Arial,sans-serif\")\n",
    "g.attr(\"edge\",fontname=\"Helvetica,Arial,sans-serif\")\n",
    "\n",
    "g.node(\"input\", shape=\"plaintext\")\n",
    "g.node(\"mixer\", label=\"\", shape=\"ellipse\", height=\"0.1\", width=\"0.1\",)\n",
    "g.node(\"output\", shape=\"plaintext\")\n",
    "g.node(\"corner1\", label=\"\", shape=\"point\", height=\"0.02\", width=\"0.02\")\n",
    "g.node(\"splitter\", label=\"\", shape=\"point\", height=\"0.05\", width=\"0.05\")\n",
    "g.node(\"corner2\", label=\"\", shape=\"point\", height=\"0.02\", width=\"0.02\")\n",
    "\n",
    "g.node(\"K\",shape=\"box\")\n",
    "g.node(\"P\",shape=\"box\")\n",
    "g.node(\"U\",shape=\"box\", label=\"1\")\n",
    "\n",
    "with g.subgraph(name=\"upper\") as sg:\n",
    "  sg.graph_attr['rankdir']='LR'\n",
    "  sg.graph_attr['rank']='same'\n",
    "  sg.edge(\"input\",\"mixer\", label=\"r\")\n",
    "  sg.edge(\"mixer\",\"K\", label=\"u\")\n",
    "  sg.edge(\"K\",\"P\")\n",
    "  sg.edge(\"P\",\"splitter\")\n",
    "  sg.edge(\"splitter\",\"output\",label=\"y\")\n",
    "  \n",
    "with g.subgraph(name=\"lower\") as sg:\n",
    "  sg.attr(\"graph\",rankdir=\"LR\",rank=\"same\")\n",
    "  sg.edge(\"corner1\",\"U\",dir=\"back\")\n",
    "  sg.edge(\"U\",\"corner2\",dir=\"back\")\n",
    "\n",
    "g.edge(\"corner1\",\"mixer\",label=\"-1\")\n",
    "g.edge(\"splitter\",\"corner2\",label=\"y\")\n",
    "\n",
    "g"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "05c26e58-93b3-4f46-9e90-0b57b9fb7aca",
   "metadata": {},
   "source": [
    "python/controlモジュールには、linear time-invariant (LTI) systemsでの時間応答を調べるための、forced_response/impulse_response/initial_response　が用意されています。\n",
    "ここでは、step_responseを使って、\n",
    "`kp=3`の場合には、振動がほぼ一定値で続いていることがわかります。  "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "6a384060-cfd4-484f-b5db-f30e1f45cbad",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "dcgain for kp=1 \t0.5047955577990908, \tmargins=(2.007450405489689, 4.992367243147129, 19.933764307100347, 17.211487404059895)\n",
      "dcgain for kp=1.76 \t0.6421014228383797, \tmargins=(0.7087786394827778, -1.766112743375487, 19.933764307100347, 21.180681929127346)\n",
      "dcgain for kp=3 \t0.7535795026375278, \tmargins=(0.0024834684965639687, -7.511516128136776, 19.933764307100354, 26.372392813967032)\n",
      "dcgain for kp=3.008 \t0.7540737026823761, \tmargins=(inf, -7.540099312816778, nan, 26.40246774471753)\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1152x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,1)\n",
    "fig.set_size_inches(16,5)\n",
    "axes[0].axhline(1, color=\"k\", linewidth=0.5)\n",
    "axes[1].axhline(0, color=\"k\", linewidth=0.5)\n",
    "axes[0].set_title(\"Step Resonse\");axes[1].set_title(\"impulse Resonse\");\n",
    "axes[1].set_xlabel(\"t\");\n",
    "axes[0].set_ylabel(r\"$\\theta$\");axes[1].set_ylabel(r\"$\\theta$\");\n",
    "\n",
    "T=linspace(0,3,1000)\n",
    "kps=(1, 1.76, 3,3.008)\n",
    "\n",
    "for kp in (kps):\n",
    "  K=tf([kp],[1])  # feedback gain kp\n",
    "  fbsys=(Plant*K).feedback(1)  #signの既定値はsign=-1です。　(Plant*K).feedback(1)　== (Plant*K).feedback(1,-1) ==(Plant*K).feedback()\n",
    "  #fbsys=control.feedback(Plant*K,　1,　-1) # 上記と等価\n",
    "  sres=step_response(fbsys,T)\n",
    "  ires=impulse_response(fbsys,T)\n",
    "  axes[0].plot(sres.t, sres.y[0,0,:], label=f\"kp={kp}\")\n",
    "  axes[1].plot(ires.t, ires.y[0,0,:])\n",
    "  print(f\"dcgain for kp={kp} \\t{fbsys.dcgain()}, \\tmargins={control.margin(fbsys)}\")\n",
    "fig.tight_layout(); fig.legend();"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "3775c999-85b0-4747-b1d1-bd8f32dc989d",
   "metadata": {},
   "source": [
    "## P制御されたモデルの周波数応答を表示します。\n",
    "P制御されたモデルの周波数応答をみるために、bode図を作成してみましょう。controlモジュールの`bode()`関数はSIOの伝達関数あるいは状態変数表示\n",
    "を引数に取ります。MIMO(複数入力複数出力）のLTIシステムの場合には、frequency_response()関数あるいはメソッドを使います。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "5a178b52",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "margin        : (gm:gain margin, pm:phase margin, pc:phase cross over, gc:gain cossover)\n",
      "margin(plant) : (3.0074504054896884, 8.11056518752136, 19.933764307100347, 13.995414100411594)\n"
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#omega=linspace(0.1,1e3,1024)\n",
    "omega=logspace(1,1e2,1024)\n",
    "print(\"margin        : (gm:gain margin, pm:phase margin, pc:phase cross over, gc:gain cossover)\")\n",
    "print(\"margin(plant) :\", control.margin(Plant))\n",
    "\n",
    "bp=control.bode_plot(Plant,omega_limits=(1,1e2),omega_num=1024, plot=True,label=f\"Plant\")\n",
    "\n",
    "for kp in kps:\n",
    "  K=tf([kp],[1])\n",
    "  fbsys=control.feedback(Plant*K,1)\n",
    "  bp=control.bode_plot(fbsys,omega_limits=(1,1e2),omega_num=1024, plot=True,label=f\"kp={kp}\")\n",
    "\n",
    "fig=pyplot.gcf()\n",
    "axes=fig.axes\n",
    "axes[1].axhline(-180,color=\"red\", linewidth=1.0)\n",
    "axes[0].legend()\n",
    "fig.set_size_inches(10,5)\n",
    "fig.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "ea0641fb-4e2d-4b7a-a165-2d17a5d9c69e",
   "metadata": {},
   "source": [
    "### ナイキスト線図\n",
    "ナイキスト線図も `nyquist_plot()`を使うことで、簡単に作成できます。\n",
    "原点付近での振る舞いを調べるために、表示範囲を明示的に指定しています。\n",
    "\n",
    "> matplotlibのバージョンを3.7.1にあげたら、`nyquist_plot`で エラーがでるようになりました。Githubの[python-control](https://github.com/python-control/python-control) を除くと、すでに対応済みでした。`control/freqplot.py` の二箇所に`if x_scl.count() >= 1 and y_scl.count() >= 1:` を追加する必要がありました。修正後は問題なく動作しました。 システム毎に描画される線の数が変動するので、ラベルをつける方法は、工夫が必要。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "27d07e34-641b-4f88-ba58-c60e6defcf6a",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#ナイキスト線図\n",
    "np=control.nyquist_plot(Plant, omega_limits=(0.01,1e3),omega_num=4096, plot=True)\n",
    "for kp in kps:\n",
    "  fbsys=control.feedback(Plant*tf([kp],[1]),1)\n",
    "  np=control.nyquist_plot(fbsys, omega_limits=(0.01,1e3),omega_num=4096*2, plot=True)\n",
    "pyplot.tight_layout()\n",
    "axes=pyplot.gca()\n",
    "axes.set_xlim(-2,2)\n",
    "axes.set_ylim(-1,1)\n",
    "lines=axes.lines\n",
    "[l.set_label(leg) for l,leg in zip( (l for l in lines if l.get_ls() == \"-\"),\n",
    "                                    [\"Plant\",]+[f\"kp={kp}\" for kp in kps])]\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "pyplot.legend();pyplot.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "7131b96c-20d1-404d-84f1-935ff1946c92",
   "metadata": {},
   "source": [
    "# 限界感度法によるフィードバック\n",
    "P制御されたモデルの時間応答／周波数応答をしらべることで、`kp=3.0`付近が限界感度であることが確認できました。\n",
    "「Pythonによる制御工学入門」に従って限界感度法を使ったリスト5.12のゲインチューニングの結果を調べてみましょう。\n",
    "PID制御のコントローラーの伝達関数を定義します。\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "8365c650-1f9e-4808-8ff5-83d3feba9152",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "0.58 3.8666666666666667 0.05742\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$$\\frac{0.05742 s^2 + 0.58 s + 3.867}{s}$$"
      ],
      "text/plain": [
       "TransferFunction(array([0.05742   , 0.58      , 3.86666667]), array([1, 0]))"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "T0=0.3\n",
    "kp0=2.9\n",
    "kp=0.2*kp0\n",
    "ki=kp/(0.5 * T0)\n",
    "kd=kp*(0.33 * T0)\n",
    "print(kp,ki,kd)\n",
    "\n",
    "PID_Cnt=tf([kd,kp,ki],[1,0])\n",
    "PID_Cnt"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "a1b0adee-8ff2-49e1-b610-0be9f111a7c0",
   "metadata": {},
   "source": [
    "このコントローラーを使ったフィードバックは、次のようになります。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "id": "131b06c1-10ed-4604-beac-94bd752c1a2c",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "1.0 1.019367991845054\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$$\\frac{-5.742 s^3 + 2239 s^2 + 2.281 \\times 10^{4} s + 1.547 \\times 10^{5}}{s^4 + 395.8 s^3 + 2937 s^2 + 6.205 \\times 10^{4} s + 1.547 \\times 10^{5}}$$"
      ],
      "text/plain": [
       "TransferFunction(array([-5.74200000e+00,  2.23880000e+03,  2.28133333e+04,  1.54666667e+05]), array([1.00000000e+00, 3.95758000e+02, 2.93690000e+03, 6.20533333e+04,\n",
       "       1.54666667e+05]))"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "fbsys=control.feedback(Plant*PID_Cnt)\n",
    "print(fbsys.dcgain(), Plant.dcgain())\n",
    "fbsys"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "a30127b4-ecfc-48f3-be29-b498aa672eba",
   "metadata": {},
   "source": [
    "### 限界感度法フィードバックの応答\n",
    "それでは、限界感度法フィードバックを使ったシステムの時間応答、周波数応答をみてみましょう。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "id": "69da7d50-643f-4366-a138-819c06519fc3",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "  -5.742 s^3 + 2239 s^2 + 2.281e+04 s + 1.547e+05\n",
      "----------------------------------------------------\n",
      "s^4 + 395.8 s^3 + 2937 s^2 + 6.205e+04 s + 1.547e+05\n",
      "\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "LimSenFB=fbsys \n",
    "print(fbsys)\n",
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,1)\n",
    "fig.set_size_inches(10,5)\n",
    "axes[0].set_title(\"Step Resonse\");axes[1].set_title(\"impulse Resonse\");\n",
    "axes[0].axhline(1, color=\"k\", linewidth=0.5)\n",
    "axes[1].axhline(0, color=\"k\", linewidth=0.5)\n",
    "\n",
    "T=linspace(0,3,1000)\n",
    "sres=step_response(Plant,T,output=0)\n",
    "ires=impulse_response(Plant,T,input=0)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"Plant\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "#sres=step_response(fbsys,T,input=0,output=0)\n",
    "sres=step_response(fbsys,T,output=0)\n",
    "ires=impulse_response(fbsys,T,input=0)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"FB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "axes[0].legend()\n",
    "fig.tight_layout()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "id": "e725ecc7-bec2-4131-a1b2-c208369fd4bb",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.lines.Line2D at 0x12f882cd0>"
      ]
     },
     "execution_count": 12,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# bode線図を確認しましょう。\n",
    "\n",
    "omega=linspace(0.1,1e2,1000)\n",
    "bp=control.bode_plot(fbsys,omega,label=\"FB\")\n",
    "bp=control.bode_plot(Plant,omega,label=\"Plant\")\n",
    "\n",
    "pyplot.legend()\n",
    "fig=pyplot.gcf()\n",
    "axes=fig.axes\n",
    "fig.set_size_inches(10,5)\n",
    "axes[0].axhline(1, color=\"r\", linewidth=0.5)\n",
    "axes[1].axhline(-180, color=\"r\", linewidth=0.5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "id": "fc62dc13-bfc1-467b-9636-ce1cbee36497",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "np=control.nyquist_plot(fbsys, omega_limits=(0.001,1e3),omega_num=10000, plot=True)\n",
    "xlim=pyplot.gcf().axes[0].get_xlim()\n",
    "ylim=pyplot.gcf().axes[0].get_ylim()\n",
    "np=control.nyquist_plot(Plant, omega_limits=(0.001,1e3),omega_num=10000, plot=True)\n",
    "pyplot.gcf().axes[0].set_xlim(xlim)\n",
    "pyplot.gcf().axes[0].set_ylim(ylim)\n",
    "lines=pyplot.gca().lines\n",
    "[l.set_label(leg) for l,leg in zip(lines[::8],(\"FB\",\"Plant\"))]\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "pyplot.legend();pyplot.tight_layout()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "id": "c9b6e93a-a883-4388-a44d-772574a00c29",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "((67.11139373729843,\n",
       "  100.77077626786178,\n",
       "  391.3017858416142,\n",
       "  13.993743426305334),\n",
       " 1.0)"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "control.margin(LimSenFB), control.dcgain(LimSenFB)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "e1e845d3-bbba-44fd-b23c-42ffd7a7dda8",
   "metadata": {},
   "source": [
    "# 状態空間へ\n",
    "伝達関数を状態空間表示へ変換してみましょう。python/controlモジュールの`tf2ss`関数を使います。\n",
    "伝達関数の分母の次数に応じて、状態空間の次数が決まります。極や零点の位置が変わらないこと、`ss2tf`を使って状態空間表示を伝達関数に変換すると元の伝達関数と等価な伝達関数に戻っていることなどが、確認できます。\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "id": "3bcfdde1-9e77-403c-b365-176d9707c967",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "A = [[-4.01500000e+02  6.98100000e+00  3.92400000e+00]\n",
      "     [-1.00000000e+02 -4.03482376e-15  3.20054605e-15]\n",
      "     [ 0.00000000e+00  1.00000000e+02  2.40212604e-14]]\n",
      "\n",
      "B = [[-0.1]\n",
      "     [ 0. ]\n",
      "     [ 0. ]]\n",
      "\n",
      "C = [[  0. -10.  40.]]\n",
      "\n",
      "D = [[0.]]\n",
      " [-400.  +0.j           -0.75+9.87610753j   -0.75-9.87610753j] [400.+0.j] 3\n",
      "[-400.  +0.j           -0.75+9.87610753j   -0.75-9.87610753j]\n",
      "\n",
      "           -100 s + 4e+04\n",
      "-------------------------------------\n",
      "s^3 + 401.5 s^2 + 698.1 s + 3.924e+04\n",
      " \n",
      "           -100 s + 4e+04\n",
      "-------------------------------------\n",
      "s^3 + 401.5 s^2 + 698.1 s + 3.924e+04\n",
      "\n"
     ]
    }
   ],
   "source": [
    "SS=tf2ss(Plant,name=\"Plant\")\n",
    "dim_state=SS.nstates\n",
    "# 極と零点の確認\n",
    "print(SS, SS.poles(),SS.zeros(), SS.nstates)\n",
    "print(eig(SS.A)[0])\n",
    "#伝達関数がもとに戻ることを確認\n",
    "print(ss2tf(SS).minreal(),Plant.minreal())"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "6de8db92-6b3e-4563-81f8-ff1ed66512e0",
   "metadata": {},
   "source": [
    "## 可制御性／可観測性\n",
    "このシステムの可制御性、可観測性を調べましょう。可制御行列(`control.ctrb()`),　可観測行列(`control.obsv()`)のランクが状態空間の次数(`SS.nstates`)と同じであれば、\n",
    "それぞれ、可制御、可観測です。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "id": "79419cb0-d512-4456-be68-ad5405e957a7",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 16,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "#可制御？\n",
    "numpy.linalg.matrix_rank(control.ctrb(SS.A,SS.B)) == SS.nstates"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "id": "1dec4e3a-7ba3-4620-b765-ef8f2dc0fd4c",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 17,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "#可観測？\n",
    "numpy.linalg.matrix_rank(control.obsv(SS.A,SS.C))==  SS.nstates"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "52aa78ef-7174-43ae-a6d8-d6f0362cf0f8",
   "metadata": {},
   "source": [
    "状態空間表示を直接物理的な運動方程式から導くこともできます。\n",
    "\n",
    "運動方程式から、状態変数表示の状態方程式を導きます。入力のトルクは振り子の角度と単位が一致するように、スケールしておきます。\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "680e0237-bfd7-48fe-a863-d63723c9ab7b",
   "metadata": {},
   "source": [
    "$$\n",
    "\\frac{d}{dt} \\begin{bmatrix}\\theta \\\\ \\dot{\\theta}\\end{bmatrix} =  \\begin{bmatrix} 0, & 1 \\\\  -\\frac{M g l}{J},& -\\frac{\\mu}{J}\\\\ \\end{bmatrix} \\begin{bmatrix}\\theta \\\\ \\dot{\\theta} \\end{bmatrix} +\\begin{bmatrix}0 \\\\ \\frac{M g l}{J} \\end{bmatrix}\\theta_{ref}(t) \n",
    "$$\n",
    "$$ \n",
    "\\theta= \\begin{bmatrix} 1,0\\end{bmatrix} \\begin{bmatrix}\\theta \\\\ \\dot{\\theta}\\end{bmatrix} + 0 \\cdot \\theta_{ref}(t)\n",
    "$$"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "id": "7817e777-abef-4acb-8731-f354d563dd8d",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrll|rll}\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-98.&\\hspace{-1em}1&\\hspace{-1em}\\phantom{\\cdot}&-1.&\\hspace{-1em}5&\\hspace{-1em}\\phantom{\\cdot}&100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\hline\n",
       "1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "<LinearIOSystem:physical model:['u[0]']->['y[0]']>"
      ]
     },
     "execution_count": 18,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "phym=ss([[0,1],[-Mgl/J, -mu/J]],\n",
    "        [[0],[1/J]],\n",
    "        [[1,0]],\n",
    "        [[0]],\n",
    "        name=\"physical model\")\n",
    "phym"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "e50a6d13-9199-403d-bf9d-2e98f1967685",
   "metadata": {},
   "source": [
    "無駄時間の伝達関数も状態空間表示に書き換えます。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "id": "663e571b-7859-40d8-8d91-53aa44e5e629",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrll|rll}\n",
       "21.&\\hspace{-1em}9&\\hspace{-1em}\\phantom{\\cdot}&-6.&\\hspace{-1em}44&\\hspace{-1em}\\phantom{\\cdot}&1.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&9.&\\hspace{-1em}7&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "94.&\\hspace{-1em}5&\\hspace{-1em}\\phantom{\\cdot}&-23.&\\hspace{-1em}3&\\hspace{-1em}\\phantom{\\cdot}&4.&\\hspace{-1em}85&\\hspace{-1em}\\phantom{\\cdot}&-2.&\\hspace{-1em}43&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-5.&\\hspace{-1em}15&\\hspace{-1em}\\phantom{\\cdot}&-400\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\hline\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-8\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "StateSpace(array([[  21.8902988 ,   -6.43830182,    1.20106137],\n",
       "       [  94.53480997,  -23.32780857,    4.85442209],\n",
       "       [   0.        ,   -5.15310055, -400.06249024]]), array([[ 9.70138042],\n",
       "       [-2.42553458],\n",
       "       [ 0.        ]]), array([[ 0.        ,  0.        , -8.00062498]]), array([[0.]]))"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Delay=tf2ss(tf(num_delay,den_delay))\n",
    "(Delay*phym).minreal()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "815e945d-70a1-4841-a52c-53f49b5e0261",
   "metadata": {},
   "source": [
    "伝達関数表示と状態空間表示のシステムを直接繋ぐことも可能です。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "id": "b1dc9540-d195-4252-8da3-18d69bc99e68",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrll|rll}\n",
       "21.&\\hspace{-1em}9&\\hspace{-1em}\\phantom{\\cdot}&-6.&\\hspace{-1em}44&\\hspace{-1em}\\phantom{\\cdot}&1.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&9.&\\hspace{-1em}7&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "94.&\\hspace{-1em}5&\\hspace{-1em}\\phantom{\\cdot}&-23.&\\hspace{-1em}3&\\hspace{-1em}\\phantom{\\cdot}&4.&\\hspace{-1em}85&\\hspace{-1em}\\phantom{\\cdot}&-2.&\\hspace{-1em}43&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-5.&\\hspace{-1em}15&\\hspace{-1em}\\phantom{\\cdot}&-400\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\hline\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-8\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "StateSpace(array([[  21.8902988 ,   -6.43830182,    1.20106137],\n",
       "       [  94.53480997,  -23.32780857,    4.85442209],\n",
       "       [   0.        ,   -5.15310055, -400.06249024]]), array([[ 9.70138042],\n",
       "       [-2.42553458],\n",
       "       [ 0.        ]]), array([[ 0.        ,  0.        , -8.00062498]]), array([[0.]]))"
      ]
     },
     "execution_count": 20,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "(tf(num_delay,den_delay)*phym).minreal()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1119f203-8d48-4129-a847-da61168f4d7f",
   "metadata": {},
   "source": [
    "この状態空間表示は、伝達関数から変換した状態空間表示とは異なっています。これらが等価であることを、それぞれのシステムを\n",
    "`canonical_form`に変換して確認してみましょう。`canonical_form`は状態空間表示を等価な `reachable`, `observable`, `modal` のいずれかの\n",
    "正準型に変換できます。ここでは\"reachable\"な正準型に変換してみましょう。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "id": "2f8b615c-abf9-4620-93f9-d1f7a2a300dc",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrll|rll}\n",
       "-353\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-89.&\\hspace{-1em}4&\\hspace{-1em}\\phantom{\\cdot}&3.&\\hspace{-1em}51&\\hspace{-1em}\\phantom{\\cdot}&0.&\\hspace{-1em}0968&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-194\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-24.&\\hspace{-1em}5&\\hspace{-1em}\\phantom{\\cdot}&-5.&\\hspace{-1em}17&\\hspace{-1em}\\phantom{\\cdot}&0.&\\hspace{-1em}025&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&97.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&-23.&\\hspace{-1em}5&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\hline\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-41.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "StateSpace(array([[-353.45629304,  -89.42271793,    3.51472151],\n",
       "       [-194.16124253,  -24.5142952 ,   -5.16880334],\n",
       "       [   0.        ,   97.19242142,  -23.52941176]]), array([[0.09683641],\n",
       "       [0.02495417],\n",
       "       [0.        ]]), array([[  0.        ,   0.        , -41.23105626]]), array([[0.]]))"
      ]
     },
     "execution_count": 21,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "SS.minreal()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "id": "0de9f353-1339-4280-93c3-dec7677f7627",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrll|rll}\n",
       "-402\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&2.&\\hspace{-1em}76&\\hspace{-1em}\\cdot10^{-15}\\\\\n",
       "-698\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-3.&\\hspace{-1em}92&\\hspace{-1em}\\cdot10^{4}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&4\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{4}\\\\\n",
       "\\hline\n",
       "1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "StateSpace(array([[-4.015e+02,  1.000e+00,  0.000e+00],\n",
       "       [-6.981e+02,  0.000e+00,  1.000e+00],\n",
       "       [-3.924e+04,  0.000e+00,  0.000e+00]]), array([[ 2.75617934e-15],\n",
       "       [-1.00000000e+02],\n",
       "       [ 4.00000000e+04]]), array([[1., 0., 0.]]), array([[0.]]))"
      ]
     },
     "execution_count": 22,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "SS_R, U_SS_R=control.canonical_form(SS,\"observable\")\n",
    "SS_R"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "id": "4213e522-eef2-4f32-bbf1-0989a3acd25e",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrll|rll}\n",
       "-402\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&4.&\\hspace{-1em}6&\\hspace{-1em}\\cdot10^{-16}\\\\\n",
       "-698\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-3.&\\hspace{-1em}92&\\hspace{-1em}\\cdot10^{4}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&4\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{4}\\\\\n",
       "\\hline\n",
       "1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "StateSpace(array([[-4.015e+02,  1.000e+00,  0.000e+00],\n",
       "       [-6.981e+02,  0.000e+00,  1.000e+00],\n",
       "       [-3.924e+04,  0.000e+00,  0.000e+00]]), array([[ 4.6040208e-16],\n",
       "       [-1.0000000e+02],\n",
       "       [ 4.0000000e+04]]), array([[1., 0., 0.]]), array([[0.]]))"
      ]
     },
     "execution_count": 23,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "PY_R, U_PY_R=control.canonical_form(Delay*phym,\"observable\")\n",
    "PY_R"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "907321f8-eba8-4c1b-985e-c9c37e21bf7b",
   "metadata": {},
   "source": [
    "と計算誤差を除いて、等価なシステムであることが確認できました。(このように、状態空間表示では、同じ入出力関係を与える無数の等価な状態空間が可能です。フィードバックの最適化において、\n",
    "状態空間表示の選び方によらないパラメータの指定方法については、後述の「等価な状態空間を用いた解析」セクションをご覧ください。\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "2df8d3c9-a51d-4dc6-b844-4419a7824ae3",
   "metadata": {},
   "source": [
    "#　状態フィードバック\n",
    "可制御なシステムでは、状態フィードバック法を使うことで、”最適\"フィードバックを実現できることが知られています。\n",
    "\n",
    "状態フィードバック法では、制御則として、\n",
    "\n",
    "$$\n",
    " u= -K X\n",
    "$$\n",
    "\n",
    "を使います。制御対称システムが可制御である時、適当なフィードバックゲイン $K$　を選択することで、$A - B K$の全ての固有値の実数部分を負にすることができることが証明されています。\n",
    "このような$K$を `place()`や`acker()`を用いて求めることができます。\n",
    "\n",
    "また、 $\\int_0^{\\infty} dt \\left[X^T Q X + u^t R u + 2 u^T N X \\right]$ を最小にする”最適フィードバック\"係数を、Ricatti 方程式の解を用いて、求めるための\n",
    "`control.lqr()`関数が用意されています。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "id": "5d08ee31-c536-4902-bef7-57cd68f37d66",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/svg+xml": [
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       "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\"\n",
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       "<!-- Generated by graphviz version 2.41.20180302.1211 (20180302.1211)\n",
       " -->\n",
       "<!-- Title: G Pages: 1 -->\n",
       "<svg width=\"324pt\" height=\"154pt\"\n",
       " viewBox=\"0.00 0.00 323.50 154.00\" xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">\n",
       "<g id=\"graph0\" class=\"graph\" transform=\"scale(1 1) rotate(0) translate(4 150)\">\n",
       "<title>G</title>\n",
       "<polygon fill=\"white\" stroke=\"transparent\" points=\"-4,4 -4,-150 319.5,-150 319.5,4 -4,4\"/>\n",
       "<text text-anchor=\"middle\" x=\"157.75\" y=\"-7.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">状態フィードバック</text>\n",
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       "<title>input</title>\n",
       "<text text-anchor=\"middle\" x=\"27\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">input</text>\n",
       "</g>\n",
       "<!-- mixer -->\n",
       "<g id=\"node2\" class=\"node\">\n",
       "<title>mixer</title>\n",
       "<ellipse fill=\"none\" stroke=\"black\" cx=\"93\" cy=\"-128\" rx=\"3.5\" ry=\"3.5\"/>\n",
       "</g>\n",
       "<!-- input&#45;&gt;mixer -->\n",
       "<g id=\"edge1\" class=\"edge\">\n",
       "<title>input&#45;&gt;mixer</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M54.23,-128C62.85,-128 72.03,-128 79.28,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"79.5,-131.5 89.5,-128 79.5,-124.5 79.5,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"71.75\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">r</text>\n",
       "</g>\n",
       "<!-- Plant -->\n",
       "<g id=\"node7\" class=\"node\">\n",
       "<title>Plant</title>\n",
       "<polygon fill=\"none\" stroke=\"black\" points=\"186,-146 132,-146 132,-110 186,-110 186,-146\"/>\n",
       "<text text-anchor=\"middle\" x=\"159\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">Plant</text>\n",
       "</g>\n",
       "<!-- mixer&#45;&gt;Plant -->\n",
       "<g id=\"edge2\" class=\"edge\">\n",
       "<title>mixer&#45;&gt;Plant</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M96.55,-128C101.62,-128 111.49,-128 121.91,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"121.94,-131.5 131.94,-128 121.94,-124.5 121.94,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"114.25\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">u</text>\n",
       "</g>\n",
       "<!-- output -->\n",
       "<g id=\"node3\" class=\"node\">\n",
       "<title>output</title>\n",
       "<text text-anchor=\"middle\" x=\"288\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">output</text>\n",
       "</g>\n",
       "<!-- splitter -->\n",
       "<g id=\"node4\" class=\"node\">\n",
       "<title>splitter</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"223\" cy=\"-128\" rx=\"1.8\" ry=\"1.8\"/>\n",
       "</g>\n",
       "<!-- splitter&#45;&gt;output -->\n",
       "<g id=\"edge4\" class=\"edge\">\n",
       "<title>splitter&#45;&gt;output</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M224.88,-128C228.96,-128 239.16,-128 250.21,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"250.43,-131.5 260.43,-128 250.43,-124.5 250.43,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"242.65\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">y</text>\n",
       "</g>\n",
       "<!-- corner2 -->\n",
       "<g id=\"node6\" class=\"node\">\n",
       "<title>corner2</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"222\" cy=\"-41\" rx=\"0.72\" ry=\"0.72\"/>\n",
       "</g>\n",
       "<!-- splitter&#45;&gt;corner2 -->\n",
       "<g id=\"edge5\" class=\"edge\">\n",
       "<title>splitter&#45;&gt;corner2</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M222.99,-126.05C222.9,-118.86 222.36,-73.02 222.12,-52.23\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"225.62,-52.01 222,-42.05 218.62,-52.09 225.62,-52.01\"/>\n",
       "<text text-anchor=\"middle\" x=\"226\" y=\"-80.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">y</text>\n",
       "</g>\n",
       "<!-- corner1 -->\n",
       "<g id=\"node5\" class=\"node\">\n",
       "<title>corner1</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"96\" cy=\"-41\" rx=\"0.72\" ry=\"0.72\"/>\n",
       "</g>\n",
       "<!-- corner1&#45;&gt;mixer -->\n",
       "<g id=\"edge6\" class=\"edge\">\n",
       "<title>corner1&#45;&gt;mixer</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M96,-42.05C95.94,-43.77 94.28,-90.72 93.46,-114.07\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"89.95,-114.05 93.1,-124.17 96.95,-114.3 89.95,-114.05\"/>\n",
       "<text text-anchor=\"middle\" x=\"111\" y=\"-80.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\"> &#45;K X</text>\n",
       "</g>\n",
       "<!-- Obsv -->\n",
       "<g id=\"node8\" class=\"node\">\n",
       "<title>Obsv</title>\n",
       "<polygon fill=\"none\" stroke=\"black\" points=\"186,-59 132,-59 132,-23 186,-23 186,-59\"/>\n",
       "<text text-anchor=\"middle\" x=\"159\" y=\"-37.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">Obsv</text>\n",
       "</g>\n",
       "<!-- corner1&#45;&gt;Obsv -->\n",
       "<g id=\"edge8\" class=\"edge\">\n",
       "<title>corner1&#45;&gt;Obsv</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M107.07,-41C115.33,-41 123.6,-41 131.87,-41\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"106.98,-37.5 96.98,-41 106.98,-44.5 106.98,-37.5\"/>\n",
       "</g>\n",
       "<!-- Plant&#45;&gt;splitter -->\n",
       "<g id=\"edge3\" class=\"edge\">\n",
       "<title>Plant&#45;&gt;splitter</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M186,-128C194.29,-128 202.58,-128 210.87,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"210.98,-131.5 220.98,-128 210.98,-124.5 210.98,-131.5\"/>\n",
       "</g>\n",
       "<!-- Obsv&#45;&gt;corner2 -->\n",
       "<g id=\"edge7\" class=\"edge\">\n",
       "<title>Obsv&#45;&gt;corner2</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M196.21,-41C204.53,-41 212.84,-41 221.16,-41\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"196.07,-37.5 186.07,-41 196.07,-44.5 196.07,-37.5\"/>\n",
       "</g>\n",
       "</g>\n",
       "</svg>\n"
      ],
      "text/plain": [
       "<graphviz.graphs.Digraph at 0x12a168430>"
      ]
     },
     "execution_count": 24,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "\"\"\"\n",
    "## control.feedback(Sys1,Sys2,sign)\n",
    "\"\"\"\n",
    "#pip install -U graphviz\n",
    "import graphviz\n",
    "g=graphviz.Digraph(\"G\", graph_attr={\"rankdir\":\"TB\",\"rank\":\"same\"},engine=\"dot\") # or circo\n",
    "g.attr(fontname=\"Helvetica,Arial,sans-serif\")\n",
    "g.attr(label=\"状態フィードバック\")\n",
    "#g.attr(orientation=\"L\")\n",
    "\n",
    "g.attr(\"node\",fontname=\"Helvetica,Arial,sans-serif\")\n",
    "g.attr(\"edge\",fontname=\"Helvetica,Arial,sans-serif\")\n",
    "\n",
    "g.node(\"input\", shape=\"plaintext\")\n",
    "g.node(\"mixer\", label=\"\", shape=\"ellipse\", height=\"0.1\", width=\"0.1\",)\n",
    "g.node(\"output\", shape=\"plaintext\")\n",
    "g.node(\"splitter\", label=\"\", shape=\"point\", height=\"0.05\", width=\"0.05\")\n",
    "g.node(\"corner1\", label=\"\", shape=\"point\", height=\"0.02\", width=\"0.02\")\n",
    "g.node(\"corner2\", label=\"\", shape=\"point\", height=\"0.02\", width=\"0.02\")\n",
    "\n",
    "g.node(\"Plant\",shape=\"box\")\n",
    "g.node(\"Obsv\",shape=\"box\")\n",
    "\n",
    "with g.subgraph(name=\"upper\") as sg:\n",
    "  sg.graph_attr['rankdir']='LR'\n",
    "  sg.graph_attr['rank']='same'\n",
    "  sg.edge(\"input\",\"mixer\", label=\"r\")\n",
    "  sg.edge(\"mixer\",\"Plant\", label=\"u\")\n",
    "  sg.edge(\"Plant\",\"splitter\")\n",
    "  sg.edge(\"splitter\",\"output\",label=\"y\")\n",
    "  \n",
    "g.edge(\"splitter\",\"corner2\",label=\"y\")\n",
    "g.edge(\"corner1\",\"mixer\",label=\" -K X\")\n",
    "\n",
    "with g.subgraph(name=\"lower\") as sg:\n",
    "  sg.attr(\"graph\",rankdir=\"LR\",rank=\"same\")\n",
    "  sg.edge(\"Obsv\",\"corner2\",dir=\"back\")\n",
    "  sg.edge(\"corner1\",\"Obsv\",dir=\"back\")\n",
    "g"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 25,
   "id": "d0cb4597-2e94-426b-a867-a641e9729575",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[  0., -10.,  40.]])"
      ]
     },
     "execution_count": 25,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "G=[[1,0,0]]@control.obsv(SS.A,SS.C)\n",
    "G"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "id": "3fedc6de-2719-4076-906c-7261c9da93f8",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(matrix([[-201.38833773,  828.85280729,   93.19782541]]),\n",
       " array([-400.       +0.j      ,  -10.819417+14.629928j,\n",
       "         -10.819417-14.629928j], dtype=complex64),\n",
       " array([-400.         +0.j        ,  -10.81941689+14.62992761j,\n",
       "         -10.81941689-14.62992761j]),\n",
       " -132437.82541304035)"
      ]
     },
     "execution_count": 26,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# 状態フィードバックゲイン\n",
    "# Qとして　システムの可観測行列を使って、重み行列Qをパラーメータ化します。これによって、状態空間表示の選び方によらず、\n",
    "# 同じ状態フィードバックを実現するゲインを求めることができます。、\n",
    "# 以下の選択は、$\\int dt y^{T} y $を最小化するのと等価。\n",
    "Qw=10\n",
    "G=diag([1,0,0])@control.obsv(SS.A,SS.C)\n",
    "Qo=eye(SS.nstates) # \n",
    "Q=G.transpose()@Qo@G\n",
    "# print(Q-Q.transpose()) # check if Q is symmetric\n",
    "\n",
    "K,P,e_K=control.lqr(SS.A, SS.B, Q ,diag([1/Qw]))\n",
    "\n",
    "K=matrix(K) # あるいは、行列としての積がが必要なところで、numpy.matmul（演算子　＠)を使う。\n",
    "K, e_K, eig(SS.A-numpy.matmul(SS.B,K))[0], numpy.linalg.det(SS.A-numpy.matmul(SS.B,K))"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "e389c349-70a4-4a10-8b34-bff6403f21e3",
   "metadata": {},
   "source": [
    "#### ackerとplace関数\n",
    "ackerとplaceをそれぞれ使って、コントローラーのゲインをもちめてみます。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "id": "0b13fd67-5ca2-4d5a-9db0-5819cf76fb1a",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[-201.38834   ,  828.85281775,   93.197831  ]])"
      ]
     },
     "execution_count": 27,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "control.acker(SS.A,SS.B, [-400.  ,  -10.819417+14.629928j, - 10.819417-14.629928j])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "id": "fa4d6a75-1ee0-4f06-88e3-d5a550016cb8",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[-201.38834   ,  828.85281775,   93.197831  ]])"
      ]
     },
     "execution_count": 28,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "control.place(SS.A,SS.B, [-400.  ,  -10.819417+14.629928j, - 10.819417-14.629928j ])"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "e034424a-d07d-43cc-b2e1-d29bb5fd086f",
   "metadata": {},
   "source": [
    "状態フィードバックでは、それぞれの時点での状態空間の状態変数が必要ですが、これは直接測定できません。可観測なシステムでは\n",
    "、状態推定樹を構成して観測値から除隊ベクトルwp"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "id": "88948dab-029a-42df-8f3f-fc4b2a6fcd1e",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "H^{T} = [[0.01370951 0.20783127 1.0797191 ]] \n",
      "e_H: [-400.       +0.j        -21.305225+23.470995j  -21.305225-23.470995j]\n"
     ]
    }
   ],
   "source": [
    "#推定器ゲイン\n",
    "Gw=10\n",
    "G=matmul(control.ctrb(SS.A, SS.B),diag([1,0,0]))\n",
    "H,P,e_H=control.lqe(SS.A, \n",
    "                  #SS.nstates*[[1]],\n",
    "                  Gw*G,\n",
    "                  SS.C, \n",
    "                  diag([1,1,1]),\n",
    "                  diag([1]))\n",
    "H=matrix(H) # あとで、行列としての演算が必要なのでarrayではなく、matrixにしておく。\n",
    "print(\"H^{T} =\",H.transpose(),\"\\ne_H:\", e_H)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "id": "5e5c810e-97e3-42b9-9147-0ecf33f63f56",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrll|rll}\n",
       "-422\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&90\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&12.&\\hspace{-1em}7&\\hspace{-1em}\\phantom{\\cdot}&0.&\\hspace{-1em}0137&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&2.&\\hspace{-1em}08&\\hspace{-1em}\\phantom{\\cdot}&-8.&\\hspace{-1em}31&\\hspace{-1em}\\phantom{\\cdot}&0.&\\hspace{-1em}208&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&111\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-43.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&1.&\\hspace{-1em}08&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\hline\n",
       "201\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-829\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-93.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "<LinearIOSystem:Observer:['u[0]']->['y[0]']>"
      ]
     },
     "execution_count": 30,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# ObsvはPlantからの出力　:math:`y` を入力として、フィードバック用の出力　:math:`u`を出力する。\n",
    "# この推定器だと、元のシステムで入力が0の場合の動作しか推定していない。\n",
    "Obsv=control.ss(\n",
    "  SS.A - numpy.matmul(H,SS.C) - numpy.matmul(SS.B, K), H,\n",
    "  -K , numpy.matrix([0]))\n",
    "Obsv.name=\"Observer\"\n",
    "Obsv"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "10d3b6e7-a88f-4aeb-911f-97963acfe00a",
   "metadata": {},
   "source": [
    "## 状態推定器付き状態フィードバック\n",
    "推定器と状態フィードバックを組み合わせたフィードバックの時間応答（step_response/impulse_response)をみてみます。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 31,
   "id": "346ad484-1109-4937-b888-bed54d9579e4",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "dcgain: 0.6612086261050192\n"
     ]
    }
   ],
   "source": [
    "fbsys=SS.feedback(Obsv,1) \n",
    "print(\"dcgain:\",fbsys.dcgain())\n",
    "# 出力はSSの出力。入力も　SSと同じ (u)\n",
    "#fbsys=control.feedback(SS,Obsv,1) # same as above\n",
    "#以下は似ているが違うシステム\n",
    "#fbsys=control.feedback(Obsv*SS,1,1)　# 出力は　u\n",
    "#fbsys=control.feedback(SS*Obsv,1,1) # 出力は　y 、入力は　y\n",
    "#fbsys=(SS*Obsv).feedback(1,1) # 　入力は 観測値yで出力もy\n",
    "#fbsys=(Obsv*SS).feedback(1,1) # 入力はuで出力は u\n",
    "# 分離定理が成り立っていることの確認\n",
    "#print(e_K,\"\\n\", e_H,\"\\n\",\n",
    "#      numpy.linalg.eig(fbsys.A)[0]\n",
    "#     )\n",
    "#print(numpy.concatenate([\n",
    "#  eig(SS.A-numpy.matmul(SS.B,K))[0],\n",
    "#  eig(SS.A-numpy.matmul(H,SS.C))[0]],\n",
    "#  0),\"\\n\",\n",
    "#  numpy.linalg.eig(fbsys.A)[0]\n",
    "#)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "id": "1ee6bac6-d893-4dcd-afc3-3a6455d8e3a6",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.legend.Legend at 0x12a0270a0>"
      ]
     },
     "execution_count": 32,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,1)\n",
    "fig.set_size_inches(10,5)\n",
    "axes[0].set_title(\"Step Response\")\n",
    "axes[1].set_title(\"Impulse Response\")\n",
    "axes[0].axhline(1,color=\"black\",linewidth=0.5)\n",
    "axes[1].axhline(0,color=\"black\",linewidth=0.5)\n",
    "fig.tight_layout()\n",
    "\n",
    "r0=0\n",
    "T=linspace(0,3,1000)\n",
    "\n",
    "sres=step_response(SS,T,r0)\n",
    "ires=impulse_response(SS,T)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"Plant\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "sres=step_response(fbsys,T,r0)\n",
    "ires=impulse_response(fbsys,T)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"State FB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "fig.legend()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "e0c24266-baff-4589-a0f6-3c18bea9360f",
   "metadata": {},
   "source": [
    "状態フィードバックのDCゲインが1ではないので、さらに外側にフィードバックをかけてDCゲインが1になるようにしてみましょう。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 33,
   "id": "e3bae72b-2844-4b5e-9de9-891fd97559a0",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "1.0000000000000007\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "FFB=fbsys.feedback(-(1-fbsys.dcgain())/fbsys.dcgain())\n",
    "#kp=(1-fbsys.dcgain())/fbsys.dcgain()\n",
    "#ki=0\n",
    "#PIFB=control.tf([kp,ki],[1,0])\n",
    "#FFB=(fbsys*PIFB).feedback()\n",
    "\n",
    "print(FFB.dcgain())\n",
    "#FFB=fbsys.feedback(-0.001)\n",
    "\n",
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,1)\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "axes[0].axhline(1,color=\"black\",linewidth=0.5)\n",
    "axes[1].axhline(0,color=\"black\",linewidth=0.5)\n",
    "axes[0].set_title(\"Step Response\")\n",
    "axes[1].set_title(\"Impulse Response\")\n",
    "\n",
    "sres=step_response(FFB,T)\n",
    "ires=impulse_response(FFB,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"FB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "sres=step_response(fbsys,T)\n",
    "ires=impulse_response(fbsys,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"SFB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "sres=step_response(LimSenFB,T)\n",
    "ires=impulse_response(LimSenFB,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"SensLimFB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "sres=step_response(SS,T)\n",
    "ires=impulse_response(SS,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"Plant\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "\n",
    "fig.legend()\n",
    "fig.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "faab9559-7e4d-4179-a9d7-c96fc9406a1e",
   "metadata": {},
   "source": [
    "これらのシステムはSISOシステムなので、`bode_plot`を使って、bode図を作成してみます。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 34,
   "id": "d50dbcda-56dd-4900-84a2-6662984106d0",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "omega=linspace(1,1e2,4000)\n",
    "bp=control.bode_plot(FFB,omega,label=\"FB\")\n",
    "bp=control.bode_plot(fbsys,bp[2],label=\"SFB\")\n",
    "bp=control.bode_plot(LimSenFB,bp[2],label=\"SensLimFB\")\n",
    "bp=control.bode_plot(SS,omega,label=\"Plant\")\n",
    "pyplot.gcf().axes[0].axhline(1,color=\"black\",linewidth=0.7)\n",
    "pyplot.gcf().axes[1].axhline(-180,color=\"red\",linewidth=0.7)\n",
    "\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "pyplot.gcf().axes[1].legend();pyplot.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "593d48f7-3b6f-4913-8fd0-7735066fbe63",
   "metadata": {},
   "source": [
    "## ナイキスト線図の作成\n",
    "ナイキスト線図の作成には、`nyquist_plot()`関数を使います。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 35,
   "id": "946db895-2454-464d-9821-f85a5513f0e7",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#omega=linspace(0.1,1e2,4000)\n",
    "omega=numpy.logspace(-1,3,4000)\n",
    "np=control.nyquist_plot(FFB,omega, plot=True)\n",
    "np=control.nyquist_plot(fbsys, omega, plot=True)\n",
    "np=control.nyquist_plot(LimSenFB, omega, plot=True)\n",
    "xlim=pyplot.gcf().axes[0].get_xlim()\n",
    "ylim=pyplot.gcf().axes[0].get_ylim()\n",
    "np=control.nyquist_plot(SS, omega_limits=(0.1,1e3),omega_num=4000, plot=True)\n",
    "pyplot.gcf().axes[0].set_xlim(xlim)\n",
    "pyplot.gcf().axes[0].set_ylim(ylim)\n",
    "pyplot.tight_layout()\n",
    "pyplot.gcf().set_size_inches(10,5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "id": "1e29a75c-b82a-4d7b-aa78-c75e282a31e7",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(array([-399.99999966 +0.j        , -400.00000034 +0.j        ,\n",
      "        -10.81941689+14.62992761j,  -10.81941689-14.62992761j,\n",
      "        -21.30522569+23.47099576j,  -21.30522569-23.47099576j]), array([-400.39058452 +0.j        ,  -31.17935032+35.00624191j,\n",
      "        -31.17935032-35.00624191j,  400.         +0.j        ]))\n"
     ]
    },
    {
     "data": {
      "image/png": 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qa1X1rar6QlU9aqIVA9wPgibALKqq3ZIcmvteL3l2kj9srR2c5I+TvHdo/2qSZ7XWnpHkYxm9zhRgp7L7pAsAmCd+qqouzehM5pokF1XVoiS/mOSTo9dbJ0kWDn/3TfLxqnpMkj2SfGd2ywV44JzRBJgd/9Fae3qSx2f0burXZPQbfNtw7+bG6UnD9mck+cvW2s8nOT6jdxUD7FQETYBZ1Fq7Pcnrkrwhye1JvlNVL0uSGnnasOnDktw0zB8764UCzABBE2CWtda+leTyJL+V5OVJXlVVlyW5KslRw2Z/mtEl9UuS/Msk6gR4oKq1NukaAADYBTmjCQBAF4ImAABdCJoAAHQhaAIA0IWgCQBAF4ImAABdCJoAAHTx/wPbDsb4V2g9UwAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<Figure size 720x720 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# plot locations of the polrs and zeros in the complex s plain.\n",
    "print(control.pzmap(fbsys))\n",
    "fig=pyplot.gcf()\n",
    "fig.tight_layout();fig.set_size_inches((10,10))"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "e6889ce9-d53b-4c06-b066-94803912d064",
   "metadata": {},
   "source": [
    "## 制御対象への入力に追従する状態推定器を構成する。\n",
    "状態推定器に入力　$u$ を伝えるため、出力に $u$を追加する。\n",
    "プラントを状態空間へ変換するだけでなく、制御値 $u$ と出力の目標値　$r$　を出力として持つ、状態空間に拡張することが必要です。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 37,
   "id": "b8a810bc-9cdf-4ea9-90cb-1a8c6b7a9226",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/svg+xml": [
       "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\"?>\n",
       "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\"\n",
       " \"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n",
       "<!-- Generated by graphviz version 2.41.20180302.1211 (20180302.1211)\n",
       " -->\n",
       "<!-- Title: G Pages: 1 -->\n",
       "<svg width=\"324pt\" height=\"154pt\"\n",
       " viewBox=\"0.00 0.00 323.50 154.00\" xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">\n",
       "<g id=\"graph0\" class=\"graph\" transform=\"scale(1 1) rotate(0) translate(4 150)\">\n",
       "<title>G</title>\n",
       "<polygon fill=\"white\" stroke=\"transparent\" points=\"-4,4 -4,-150 319.5,-150 319.5,4 -4,4\"/>\n",
       "<text text-anchor=\"middle\" x=\"157.75\" y=\"-7.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">状態フィードバック</text>\n",
       "<!-- input -->\n",
       "<g id=\"node1\" class=\"node\">\n",
       "<title>input</title>\n",
       "<text text-anchor=\"middle\" x=\"27\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">input</text>\n",
       "</g>\n",
       "<!-- mixer -->\n",
       "<g id=\"node2\" class=\"node\">\n",
       "<title>mixer</title>\n",
       "<ellipse fill=\"none\" stroke=\"black\" cx=\"93\" cy=\"-128\" rx=\"3.5\" ry=\"3.5\"/>\n",
       "</g>\n",
       "<!-- input&#45;&gt;mixer -->\n",
       "<g id=\"edge1\" class=\"edge\">\n",
       "<title>input&#45;&gt;mixer</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M54.23,-128C62.85,-128 72.03,-128 79.28,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"79.5,-131.5 89.5,-128 79.5,-124.5 79.5,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"71.75\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">r</text>\n",
       "</g>\n",
       "<!-- Plant -->\n",
       "<g id=\"node7\" class=\"node\">\n",
       "<title>Plant</title>\n",
       "<polygon fill=\"none\" stroke=\"black\" points=\"186,-146 132,-146 132,-110 186,-110 186,-146\"/>\n",
       "<text text-anchor=\"middle\" x=\"159\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">Plant</text>\n",
       "</g>\n",
       "<!-- mixer&#45;&gt;Plant -->\n",
       "<g id=\"edge2\" class=\"edge\">\n",
       "<title>mixer&#45;&gt;Plant</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M96.55,-128C101.62,-128 111.49,-128 121.91,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"121.94,-131.5 131.94,-128 121.94,-124.5 121.94,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"114.25\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">u</text>\n",
       "</g>\n",
       "<!-- output -->\n",
       "<g id=\"node3\" class=\"node\">\n",
       "<title>output</title>\n",
       "<text text-anchor=\"middle\" x=\"288\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">output</text>\n",
       "</g>\n",
       "<!-- splitter -->\n",
       "<g id=\"node4\" class=\"node\">\n",
       "<title>splitter</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"223\" cy=\"-128\" rx=\"1.8\" ry=\"1.8\"/>\n",
       "</g>\n",
       "<!-- splitter&#45;&gt;output -->\n",
       "<g id=\"edge4\" class=\"edge\">\n",
       "<title>splitter&#45;&gt;output</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M224.88,-128C228.96,-128 239.16,-128 250.21,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"250.43,-131.5 260.43,-128 250.43,-124.5 250.43,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"242.65\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">y</text>\n",
       "</g>\n",
       "<!-- corner2 -->\n",
       "<g id=\"node6\" class=\"node\">\n",
       "<title>corner2</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"222\" cy=\"-41\" rx=\"0.72\" ry=\"0.72\"/>\n",
       "</g>\n",
       "<!-- splitter&#45;&gt;corner2 -->\n",
       "<g id=\"edge5\" class=\"edge\">\n",
       "<title>splitter&#45;&gt;corner2</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M222.99,-126.05C222.9,-118.86 222.36,-73.02 222.12,-52.23\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"225.62,-52.01 222,-42.05 218.62,-52.09 225.62,-52.01\"/>\n",
       "<text text-anchor=\"middle\" x=\"226\" y=\"-80.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">y</text>\n",
       "</g>\n",
       "<!-- corner1 -->\n",
       "<g id=\"node5\" class=\"node\">\n",
       "<title>corner1</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"95\" cy=\"-41\" rx=\"0.72\" ry=\"0.72\"/>\n",
       "</g>\n",
       "<!-- corner1&#45;&gt;mixer -->\n",
       "<g id=\"edge6\" class=\"edge\">\n",
       "<title>corner1&#45;&gt;mixer</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M95,-42.05C94.96,-43.77 93.85,-90.72 93.3,-114.07\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"89.8,-114.09 93.07,-124.17 96.8,-114.26 89.8,-114.09\"/>\n",
       "<text text-anchor=\"middle\" x=\"111\" y=\"-80.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\"> &#45;K X</text>\n",
       "</g>\n",
       "<!-- Obsv -->\n",
       "<g id=\"node8\" class=\"node\">\n",
       "<title>Obsv</title>\n",
       "<polygon fill=\"none\" stroke=\"black\" points=\"186,-59 132,-59 132,-23 186,-23 186,-59\"/>\n",
       "<text text-anchor=\"middle\" x=\"159\" y=\"-37.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">Obsv</text>\n",
       "</g>\n",
       "<!-- corner1&#45;&gt;Obsv -->\n",
       "<g id=\"edge9\" class=\"edge\">\n",
       "<title>corner1&#45;&gt;Obsv</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M106.11,-41C114.71,-41 123.32,-41 131.93,-41\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"106,-37.5 96,-41 106,-44.5 106,-37.5\"/>\n",
       "</g>\n",
       "<!-- Plant&#45;&gt;splitter -->\n",
       "<g id=\"edge3\" class=\"edge\">\n",
       "<title>Plant&#45;&gt;splitter</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M186,-128C194.29,-128 202.58,-128 210.87,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"210.98,-131.5 220.98,-128 210.98,-124.5 210.98,-131.5\"/>\n",
       "</g>\n",
       "<!-- Plant&#45;&gt;Obsv -->\n",
       "<g id=\"edge7\" class=\"edge\">\n",
       "<title>Plant&#45;&gt;Obsv</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M159,-109.8C159,-98.16 159,-82.55 159,-69.24\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"162.5,-69.18 159,-59.18 155.5,-69.18 162.5,-69.18\"/>\n",
       "<text text-anchor=\"middle\" x=\"163\" y=\"-80.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">u</text>\n",
       "</g>\n",
       "<!-- Obsv&#45;&gt;corner2 -->\n",
       "<g id=\"edge8\" class=\"edge\">\n",
       "<title>Obsv&#45;&gt;corner2</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M196.21,-41C204.53,-41 212.84,-41 221.16,-41\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"196.07,-37.5 186.07,-41 196.07,-44.5 196.07,-37.5\"/>\n",
       "</g>\n",
       "</g>\n",
       "</svg>\n"
      ],
      "text/plain": [
       "<graphviz.graphs.Digraph at 0x12a0f65b0>"
      ]
     },
     "execution_count": 37,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "\"\"\"\n",
    "## control.feedback(Sys1,Sys2,sign)\n",
    "\"\"\"\n",
    "#pip install -U graphviz\n",
    "import graphviz\n",
    "g=graphviz.Digraph(\"G\", graph_attr={\"rankdir\":\"TB\",\"rank\":\"same\"},engine=\"dot\") # or circo\n",
    "g.attr(fontname=\"Helvetica,Arial,sans-serif\")\n",
    "g.attr(label=\"状態フィードバック\")\n",
    "\n",
    "#g.attr(orientation=\"L\")\n",
    "\n",
    "g.attr(\"node\",fontname=\"Helvetica,Arial,sans-serif\")\n",
    "g.attr(\"edge\",fontname=\"Helvetica,Arial,sans-serif\")\n",
    "\n",
    "g.node(\"input\", shape=\"plaintext\")\n",
    "g.node(\"mixer\", label=\"\", shape=\"ellipse\", height=\"0.1\", width=\"0.1\",)\n",
    "g.node(\"output\", shape=\"plaintext\")\n",
    "g.node(\"splitter\", label=\"\", shape=\"point\", height=\"0.05\", width=\"0.05\")\n",
    "g.node(\"corner1\", label=\"\", shape=\"point\", height=\"0.02\", width=\"0.02\")\n",
    "g.node(\"corner2\", label=\"\", shape=\"point\", height=\"0.02\", width=\"0.02\")\n",
    "\n",
    "g.node(\"Plant\",shape=\"box\")\n",
    "g.node(\"Obsv\",shape=\"box\")\n",
    "\n",
    "with g.subgraph(name=\"upper\") as sg:\n",
    "  sg.graph_attr['rankdir']='LR'\n",
    "  sg.graph_attr['rank']='same'\n",
    "  sg.edge(\"input\",\"mixer\", label=\"r\")\n",
    "  sg.edge(\"mixer\",\"Plant\", label=\"u\")\n",
    "  sg.edge(\"Plant\",\"splitter\")\n",
    "  sg.edge(\"splitter\",\"output\",label=\"y\")\n",
    "  \n",
    "g.edge(\"splitter\",\"corner2\",label=\"y\")\n",
    "g.edge(\"corner1\",\"mixer\",label=\" -K X\")\n",
    "g.edge(\"Plant\",\"Obsv\",label=\"u\")\n",
    "\n",
    "with g.subgraph(name=\"lower\") as sg:\n",
    "  sg.attr(\"graph\",rankdir=\"LR\",rank=\"same\")\n",
    "  sg.edge(\"Obsv\",\"corner2\",dir=\"back\")\n",
    "  sg.edge(\"corner1\",\"Obsv\",dir=\"back\")\n",
    "g"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 38,
   "id": "a78a03a0-3845-4ef7-87d8-ef2e18cd2fd4",
   "metadata": {},
   "outputs": [],
   "source": [
    "#拡張された 状態空間\n",
    "SSe=ss(SS.A, SS.B,\n",
    "       numpy.concatenate([SS.C,[SS.nstates*[0]]],0),\n",
    "       numpy.concatenate([SS.D,[[1]]],0)) # 出力に u を加える。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 39,
   "id": "b370a525-7f01-475a-9fb9-5e47c990b06f",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrll|rll}\n",
       "-402\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&6.&\\hspace{-1em}98&\\hspace{-1em}\\phantom{\\cdot}&3.&\\hspace{-1em}92&\\hspace{-1em}\\phantom{\\cdot}&-0.&\\hspace{-1em}1&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-4.&\\hspace{-1em}03&\\hspace{-1em}\\cdot10^{-15}&3.&\\hspace{-1em}2&\\hspace{-1em}\\cdot10^{-15}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&2.&\\hspace{-1em}4&\\hspace{-1em}\\cdot10^{-14}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\hline\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-10\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&40\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "<LinearIOSystem:sys[174]:['u[0]']->['y[0]', 'y[1]']>"
      ]
     },
     "execution_count": 39,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "SSe"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 40,
   "id": "7f2b547d-2848-4fd7-8724-29f574a93bfe",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrll|rllrll}\n",
       "-402\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&7.&\\hspace{-1em}12&\\hspace{-1em}\\phantom{\\cdot}&3.&\\hspace{-1em}38&\\hspace{-1em}\\phantom{\\cdot}&0.&\\hspace{-1em}0137&\\hspace{-1em}\\phantom{\\cdot}&-0.&\\hspace{-1em}1&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&2.&\\hspace{-1em}08&\\hspace{-1em}\\phantom{\\cdot}&-8.&\\hspace{-1em}31&\\hspace{-1em}\\phantom{\\cdot}&0.&\\hspace{-1em}208&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&111\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-43.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&1.&\\hspace{-1em}08&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\hline\n",
       "201\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-829\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-93.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "<LinearIOSystem:sys[175]:['u[0]', 'u[1]']->['y[0]']>"
      ]
     },
     "execution_count": 40,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "#SSeからのuを使う オブザーバ を定義します。状態推定器のゲインは同じものを使います。\n",
    "Obsv_e=control.ss(\n",
    "  SSe.A - H*SS.C, \n",
    "  numpy.concatenate([H, SS.B - numpy.matmul(H,SS.D)], 1),\n",
    "  -K , \n",
    "  numpy.matrix([[0,0]]))\n",
    "Obsv_e"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 41,
   "id": "531bc030-74c2-48f2-bacd-f38b2482caf3",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[-400.         +0.j          -10.81941689+14.62992761j\n",
      "  -10.81941689-14.62992761j] \n",
      " [-400.         +0.j          -21.30522569+23.47099576j\n",
      "  -21.30522569-23.47099576j] \n",
      " [-399.99999966 +0.j         -400.00000034 +0.j\n",
      "  -10.81941689+14.62992761j  -10.81941689-14.62992761j\n",
      "  -21.30522569+23.47099576j  -21.30522569-23.47099576j]\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrllrllrllrll|rll}\n",
       "-402\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&6.&\\hspace{-1em}98&\\hspace{-1em}\\phantom{\\cdot}&3.&\\hspace{-1em}92&\\hspace{-1em}\\phantom{\\cdot}&-20.&\\hspace{-1em}1&\\hspace{-1em}\\phantom{\\cdot}&82.&\\hspace{-1em}9&\\hspace{-1em}\\phantom{\\cdot}&9.&\\hspace{-1em}32&\\hspace{-1em}\\phantom{\\cdot}&-0.&\\hspace{-1em}1&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-4.&\\hspace{-1em}03&\\hspace{-1em}\\cdot10^{-15}&3.&\\hspace{-1em}2&\\hspace{-1em}\\cdot10^{-15}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&2.&\\hspace{-1em}4&\\hspace{-1em}\\cdot10^{-14}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-0.&\\hspace{-1em}137&\\hspace{-1em}\\phantom{\\cdot}&0.&\\hspace{-1em}548&\\hspace{-1em}\\phantom{\\cdot}&-422\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&90\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&12.&\\hspace{-1em}7&\\hspace{-1em}\\phantom{\\cdot}&-0.&\\hspace{-1em}1&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-2.&\\hspace{-1em}08&\\hspace{-1em}\\phantom{\\cdot}&8.&\\hspace{-1em}31&\\hspace{-1em}\\phantom{\\cdot}&-100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&2.&\\hspace{-1em}08&\\hspace{-1em}\\phantom{\\cdot}&-8.&\\hspace{-1em}31&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-10.&\\hspace{-1em}8&\\hspace{-1em}\\phantom{\\cdot}&43.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&111\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-43.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\hline\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-10\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&40\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&201\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-829\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-93.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "<LinearICSystem:sys[176]:['u[0]']->['y[0]', 'y[1]']>"
      ]
     },
     "execution_count": 41,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "fbsys_e=SSe.feedback(Obsv_e, 1) # 出力はSSの出力+u。入力も　SS_eと同じ (u)\n",
    "#固有値の確認\n",
    "print(eig(SS.A - numpy.matmul(SS.B, K))[0],\"\\n\",\n",
    "      eig(SS.A - numpy.matmul(H, SS.C))[0],\"\\n\",\n",
    "      numpy.linalg.eig(fbsys_e.A)[0]\n",
    "     )\n",
    "fbsys_e"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 42,
   "id": "f4768b47-c35f-4ab6-91c8-21dd3c7b7e06",
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/Library/Frameworks/Python.framework/Versions/3.9/lib/python3.9/site-packages/control/timeresp.py:1812: UserWarning: System has direct feedthrough: ``D != 0``. The infinite impulse at ``t=0`` does not appear in the output.\n",
      "Results may be meaningless!\n",
      "  warnings.warn(\"System has direct feedthrough: ``D != 0``. The \"\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "T=linspace(0,3,1000)\n",
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,1)\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "\n",
    "#r0=-0.0001/4\n",
    "r0=0.1\n",
    "sres=step_response(SS,T)\n",
    "ires=impulse_response(SS,T)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"Plant\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "sres=step_response(fbsys_e,T,output=0,input=0)\n",
    "ires=impulse_response(fbsys_e,T,output=0,input=0)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:], label=\"State FB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "axes[0].axhline(1.0,color='black',linewidth=0.5)\n",
    "axes[1].axhline(0.0,color='black',linewidth=0.5)\n",
    "\n",
    "fig.legend();fig.tight_layout()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 43,
   "id": "bfd4af69-7ab9-4eea-81b2-05434d5a99f1",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "DC gain: [0.30202852 0.29628998]\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "(0.30202851696824545, 0.296289975145847)"
      ]
     },
     "execution_count": 43,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "#DC gain: -> .dcgain(): .dcgain()の結果と、平衡値の理論式との比較\n",
    "print(\"DC gain:\",fbsys_e.dcgain().transpose()[0])\n",
    "# r -> y, r->u\n",
    "( (-matrix(SS.C-matmul(SS.D,K))*matrix(SS.A-matmul(SS.B,K))**(-1)*SS.B + SS.D)[0,0], #r->y\n",
    " (1+K*matrix(SS.A-matmul(SS.B,K))**(-1)*SS.B )[0,0])# r-> u"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 44,
   "id": "65ad7884-7180-4948-9066-58281fdae88b",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#出力の応答も見てみましょう\n",
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2, 1)\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "\n",
    "sres=step_response(fbsys_e, T, output=1, input=0)\n",
    "ires=impulse_response(fbsys_e, T, output=1, input=0)\n",
    "axes[0].plot(sres.t, sres.y[0,0,:], label=\"State FB\")\n",
    "axes[1].plot(ires.t, ires.y[0,0,:])\n",
    "fig.legend();fig.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "5aecf993-96f5-460e-9fc4-d64bc9c2f95d",
   "metadata": {},
   "source": [
    "状態フィードバックだけでは、状態を0とするようにフィードバックが働くので、dcgainが1より小さくなっている。\n",
    "この外側にP制御を追加してDCgainが1になるよう調整してみます。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 45,
   "id": "d65ed777-e132-49a5-8549-9292298a5b19",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "dcgain=0.30202851696824606\n",
      "FFB.dcgain()[0][0]=0.9999999999999366\n"
     ]
    }
   ],
   "source": [
    "# 1 loop correction\n",
    "# DC gain for u\n",
    "#dcgain=-SS.C*matrix(SS.A-numpy.matmul(SS.B,K))**(-1)*SS.B\n",
    "dcgain=fbsys_e.dcgain()[0,0]\n",
    "FFB=fbsys_e.feedback(ss([],[],[], [1,0]), (1-dcgain)/dcgain) # positive feedback \n",
    "print(f\"{dcgain=}\")\n",
    "print(f\"{FFB.dcgain()[0][0]=}\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 46,
   "id": "ee299ca6-49be-4923-babb-8493a6ef7d3d",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,1)\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "\n",
    "sres=step_response(FFB,T)\n",
    "ires=impulse_response(FFB,T,)\n",
    "axes[0].plot(sres.t,sres.y[0, 0,:],label=\"FB\")\n",
    "axes[1].plot(ires.t,ires.y[0, 0,:])\n",
    "\n",
    "sres=step_response(fbsys_e,T)\n",
    "ires=impulse_response(fbsys_e,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"SFB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "sres=step_response(LimSenFB,T)\n",
    "ires=impulse_response(LimSenFB,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"SensLimFB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "sres=step_response(SS,T)\n",
    "ires=impulse_response(SS,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"Plant\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "fig.legend()\n",
    "fig.tight_layout()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 47,
   "id": "2f9d87ed-c306-4b07-90b2-52145cf028ec",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#出力の応答も見てみましょう\n",
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2, 1)\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "\n",
    "sres=step_response(FFB, T, output=1, input=0)\n",
    "ires=impulse_response(FFB, T, output=1, input=0)\n",
    "axes[0].plot(sres.t, sres.y[0,0,:], label=\"State FB\") # step\n",
    "axes[0].plot(sres.t, sres.outputs, label=\"output\") # step\n",
    "axes[1].plot(ires.t, ires.y[0,0,:])\n",
    "axes[1].plot(ires.t, ires.outputs[:])\n",
    "fig.legend();fig.tight_layout()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 48,
   "id": "aa75f3d3-fc0c-49dd-9ab3-ef4da3ee7474",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#omega=linspace(1,1e2,4000)\n",
    "omega=numpy.logspace(0,2,4000)\n",
    "bp=control.bode_plot(ss([],[],[], [1,0])*FFB,omega,label=\"FB\")\n",
    "bp=control.bode_plot(ss([],[],[], [1,0])*fbsys_e,bp[2],label=\"SFB\")\n",
    "bp=control.bode_plot(LimSenFB,bp[2],label=\"SensLimFB\")\n",
    "bp=control.bode_plot(SS,omega,label=\"Plant\")\n",
    "pyplot.legend();pyplot.tight_layout()\n",
    "pyplot.gcf().set_size_inches(10,5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 49,
   "id": "dd35a987-d1e7-4927-acb5-1d0541e3e37b",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "omega=numpy.logspace(0,2,4000)\n",
    "np=control.nyquist_plot(ss([],[],[], [1,0])*FFB, omega_limits=(0.1,1e3),omega_num=4000, plot=True)\n",
    "np=control.nyquist_plot(ss([],[],[], [1,0])*fbsys_e, omega_limits=(0.1,1e3),omega_num=4000, plot=True)\n",
    "np=control.nyquist_plot(LimSenFB, omega_limits=(0.001,1e3),omega_num=4096, plot=True)\n",
    "pyplot.gcf().set_size_inches(10,5)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "649a7297-7a6e-4e97-b33a-c530ecf88a29",
   "metadata": {},
   "source": [
    "# 外乱オブザーバを使ったフィードバックを構成する。\n",
    "外乱オブザーバ(「Pythonによる制御工学入門」Page. 233 ) を使った制御システムを作ってみます。\n",
    "外乱オブザーバを使ったシステムは、入力 $u$ に対するDCgainは元のプラントと同じになることも確認してみます。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 50,
   "id": "baa13cfa-a289-45f3-a92d-a5009b23f41c",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/svg+xml": [
       "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\"?>\n",
       "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\"\n",
       " \"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n",
       "<!-- Generated by graphviz version 2.41.20180302.1211 (20180302.1211)\n",
       " -->\n",
       "<!-- Title: G Pages: 1 -->\n",
       "<svg width=\"324pt\" height=\"241pt\"\n",
       " viewBox=\"0.00 0.00 323.50 241.00\" xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">\n",
       "<g id=\"graph0\" class=\"graph\" transform=\"scale(1 1) rotate(0) translate(4 237)\">\n",
       "<title>G</title>\n",
       "<polygon fill=\"white\" stroke=\"transparent\" points=\"-4,4 -4,-237 319.5,-237 319.5,4 -4,4\"/>\n",
       "<text text-anchor=\"middle\" x=\"157.75\" y=\"-7.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">外乱フィードバック</text>\n",
       "<!-- input -->\n",
       "<g id=\"node1\" class=\"node\">\n",
       "<title>input</title>\n",
       "<text text-anchor=\"middle\" x=\"27\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">input</text>\n",
       "</g>\n",
       "<!-- mixer -->\n",
       "<g id=\"node2\" class=\"node\">\n",
       "<title>mixer</title>\n",
       "<ellipse fill=\"none\" stroke=\"black\" cx=\"93\" cy=\"-128\" rx=\"3.5\" ry=\"3.5\"/>\n",
       "</g>\n",
       "<!-- input&#45;&gt;mixer -->\n",
       "<g id=\"edge1\" class=\"edge\">\n",
       "<title>input&#45;&gt;mixer</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M54.23,-128C62.85,-128 72.03,-128 79.28,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"79.5,-131.5 89.5,-128 79.5,-124.5 79.5,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"71.75\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">r</text>\n",
       "</g>\n",
       "<!-- Plant -->\n",
       "<g id=\"node7\" class=\"node\">\n",
       "<title>Plant</title>\n",
       "<polygon fill=\"none\" stroke=\"black\" points=\"186,-146 132,-146 132,-110 186,-110 186,-146\"/>\n",
       "<text text-anchor=\"middle\" x=\"159\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">Plant</text>\n",
       "</g>\n",
       "<!-- mixer&#45;&gt;Plant -->\n",
       "<g id=\"edge2\" class=\"edge\">\n",
       "<title>mixer&#45;&gt;Plant</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M96.55,-128C101.62,-128 111.49,-128 121.91,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"121.94,-131.5 131.94,-128 121.94,-124.5 121.94,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"114.25\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">u</text>\n",
       "</g>\n",
       "<!-- output -->\n",
       "<g id=\"node3\" class=\"node\">\n",
       "<title>output</title>\n",
       "<text text-anchor=\"middle\" x=\"288\" y=\"-124.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">output</text>\n",
       "</g>\n",
       "<!-- splitter -->\n",
       "<g id=\"node4\" class=\"node\">\n",
       "<title>splitter</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"223\" cy=\"-128\" rx=\"1.8\" ry=\"1.8\"/>\n",
       "</g>\n",
       "<!-- splitter&#45;&gt;output -->\n",
       "<g id=\"edge4\" class=\"edge\">\n",
       "<title>splitter&#45;&gt;output</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M224.88,-128C228.96,-128 239.16,-128 250.21,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"250.43,-131.5 260.43,-128 250.43,-124.5 250.43,-131.5\"/>\n",
       "<text text-anchor=\"middle\" x=\"242.65\" y=\"-134.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">y</text>\n",
       "</g>\n",
       "<!-- corner2 -->\n",
       "<g id=\"node6\" class=\"node\">\n",
       "<title>corner2</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"222\" cy=\"-41\" rx=\"0.72\" ry=\"0.72\"/>\n",
       "</g>\n",
       "<!-- splitter&#45;&gt;corner2 -->\n",
       "<g id=\"edge5\" class=\"edge\">\n",
       "<title>splitter&#45;&gt;corner2</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M222.99,-126.05C222.9,-118.86 222.36,-73.02 222.12,-52.23\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"225.62,-52.01 222,-42.05 218.62,-52.09 225.62,-52.01\"/>\n",
       "<text text-anchor=\"middle\" x=\"226\" y=\"-80.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">y</text>\n",
       "</g>\n",
       "<!-- corner1 -->\n",
       "<g id=\"node5\" class=\"node\">\n",
       "<title>corner1</title>\n",
       "<ellipse fill=\"black\" stroke=\"black\" cx=\"96\" cy=\"-41\" rx=\"0.72\" ry=\"0.72\"/>\n",
       "</g>\n",
       "<!-- corner1&#45;&gt;mixer -->\n",
       "<g id=\"edge6\" class=\"edge\">\n",
       "<title>corner1&#45;&gt;mixer</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M96,-42.05C95.94,-43.77 94.28,-90.72 93.46,-114.07\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"89.95,-114.05 93.1,-124.17 96.95,-114.3 89.95,-114.05\"/>\n",
       "<text text-anchor=\"middle\" x=\"111\" y=\"-80.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\"> &#45;K X</text>\n",
       "</g>\n",
       "<!-- Obsv -->\n",
       "<g id=\"node8\" class=\"node\">\n",
       "<title>Obsv</title>\n",
       "<polygon fill=\"none\" stroke=\"black\" points=\"186,-59 132,-59 132,-23 186,-23 186,-59\"/>\n",
       "<text text-anchor=\"middle\" x=\"159\" y=\"-37.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">Obsv</text>\n",
       "</g>\n",
       "<!-- corner1&#45;&gt;Obsv -->\n",
       "<g id=\"edge9\" class=\"edge\">\n",
       "<title>corner1&#45;&gt;Obsv</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M107.07,-41C115.33,-41 123.6,-41 131.87,-41\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"106.98,-37.5 96.98,-41 106.98,-44.5 106.98,-37.5\"/>\n",
       "</g>\n",
       "<!-- Plant&#45;&gt;splitter -->\n",
       "<g id=\"edge3\" class=\"edge\">\n",
       "<title>Plant&#45;&gt;splitter</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M186.5,-128C194.59,-128 202.67,-128 210.76,-128\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"211,-131.5 221,-128 211,-124.5 211,-131.5\"/>\n",
       "</g>\n",
       "<!-- Obsv&#45;&gt;corner2 -->\n",
       "<g id=\"edge8\" class=\"edge\">\n",
       "<title>Obsv&#45;&gt;corner2</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M196.21,-41C204.53,-41 212.84,-41 221.16,-41\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"196.07,-37.5 186.07,-41 196.07,-44.5 196.07,-37.5\"/>\n",
       "</g>\n",
       "<!-- disturbance -->\n",
       "<g id=\"node9\" class=\"node\">\n",
       "<title>disturbance</title>\n",
       "<text text-anchor=\"middle\" x=\"93\" y=\"-211.3\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">disturbance</text>\n",
       "</g>\n",
       "<!-- disturbance&#45;&gt;mixer -->\n",
       "<g id=\"edge7\" class=\"edge\">\n",
       "<title>disturbance&#45;&gt;mixer</title>\n",
       "<path fill=\"none\" stroke=\"black\" d=\"M93,-196.8C93,-180.61 93,-156.71 93,-142.04\"/>\n",
       "<polygon fill=\"black\" stroke=\"black\" points=\"96.5,-141.64 93,-131.64 89.5,-141.64 96.5,-141.64\"/>\n",
       "<text text-anchor=\"middle\" x=\"97\" y=\"-167.8\" font-family=\"Helvetica,Arial,sans-serif\" font-size=\"14.00\">d</text>\n",
       "</g>\n",
       "</g>\n",
       "</svg>\n"
      ],
      "text/plain": [
       "<graphviz.graphs.Digraph at 0x12a25bd60>"
      ]
     },
     "execution_count": 50,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "\"\"\"\n",
    "## control.feedback(Sys1,Sys2,sign)\n",
    "\"\"\"\n",
    "#pip install -U graphviz\n",
    "import graphviz\n",
    "g=graphviz.Digraph(\"G\", graph_attr={\"rankdir\":\"TB\",\"rank\":\"same\"},engine=\"dot\") # or circo\n",
    "g.attr(fontname=\"Helvetica,Arial,sans-serif\")\n",
    "g.attr(label=\"外乱フィードバック\")\n",
    "\n",
    "#g.attr(orientation=\"L\")\n",
    "\n",
    "g.attr(\"node\",fontname=\"Helvetica,Arial,sans-serif\")\n",
    "g.attr(\"edge\",fontname=\"Helvetica,Arial,sans-serif\")\n",
    "\n",
    "g.node(\"input\", shape=\"plaintext\")\n",
    "g.node(\"mixer\", label=\"\", shape=\"ellipse\", height=\"0.1\", width=\"0.1\",)\n",
    "g.node(\"output\", shape=\"plaintext\")\n",
    "g.node(\"splitter\", label=\"\", shape=\"point\", height=\"0.05\", width=\"0.05\")\n",
    "g.node(\"corner1\", label=\"\", shape=\"point\", height=\"0.02\", width=\"0.02\")\n",
    "g.node(\"corner2\", label=\"\", shape=\"point\", height=\"0.02\", width=\"0.02\")\n",
    "\n",
    "g.node(\"Plant\",shape=\"box\")\n",
    "g.node(\"Obsv\",shape=\"box\")\n",
    "\n",
    "with g.subgraph(name=\"upper\") as sg:\n",
    "  sg.graph_attr['rankdir']='LR'\n",
    "  sg.graph_attr['rank']='same'\n",
    "  sg.node(\"disturbance\", shape=\"plaintext\")\n",
    "\n",
    "with g.subgraph(name=\"middle\") as sg:\n",
    "  sg.graph_attr['rankdir']='LR'\n",
    "  sg.graph_attr['rank']='same'\n",
    "  sg.edge(\"input\",\"mixer\", label=\"r\")\n",
    "  sg.edge(\"mixer\",\"Plant\", label=\"u\")\n",
    "  sg.edge(\"Plant\",\"splitter\")\n",
    "  sg.edge(\"splitter\",\"output\",label=\"y\")\n",
    "  \n",
    "g.edge(\"splitter\",\"corner2\",label=\"y\")\n",
    "g.edge(\"corner1\",\"mixer\",label=\" -K X\")\n",
    "g.edge(\"disturbance\",\"mixer\",label=\"d\")\n",
    "\n",
    "with g.subgraph(name=\"lower\") as sg:\n",
    "  sg.attr(\"graph\",rankdir=\"LR\",rank=\"same\")\n",
    "  sg.edge(\"Obsv\",\"corner2\",dir=\"back\")\n",
    "  sg.edge(\"corner1\",\"Obsv\",dir=\"back\")\n",
    "g"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 51,
   "id": "8a5c689d-c407-49d8-8c17-3e15cf474e56",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Observable? True\n",
      "Controllable? False\n",
      "Hd for beta=0.1\n",
      " [[ 5.46878986e-06]\n",
      " [-1.10671082e-06]\n",
      " [ 2.47892393e-04]\n",
      " [ 1.00000000e-01]]\n",
      "Hd for beta=1\n",
      " [[5.28218075e-04]\n",
      " [1.88341753e-04]\n",
      " [2.22379888e-02]\n",
      " [1.00000000e+00]]\n",
      "Hd for beta=10\n",
      " [[ 0.01253813]\n",
      " [ 0.08939591]\n",
      " [ 0.49702284]\n",
      " [10.        ]]\n",
      "Hd for beta=100\n",
      " [[ -1.36229129]\n",
      " [  1.69987341]\n",
      " [  1.53696267]\n",
      " [100.        ]]\n",
      "Controllable? True\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "(array([[-0.04663812],\n",
       "        [ 0.2819605 ],\n",
       "        [ 0.70396577],\n",
       "        [30.        ]]),\n",
       " array([[ 0.00000000e+00,  4.66381206e-01, -1.86552482e+00,\n",
       "         -4.66381206e-02],\n",
       "        [ 0.00000000e+00, -2.81960501e+00,  1.12784200e+01,\n",
       "          2.81960501e-01],\n",
       "        [ 0.00000000e+00, -7.03965768e+00,  2.81586307e+01,\n",
       "          7.03965768e-01],\n",
       "        [ 0.00000000e+00, -3.00000000e+02,  1.20000000e+03,\n",
       "          3.00000000e+01]]),\n",
       " matrix([[  0.        ,  -0.13709513,   0.54838054],\n",
       "         [  0.        ,  -2.07831273,   8.31325093],\n",
       "         [  0.        , -10.79719103,  43.18876412]]))"
      ]
     },
     "execution_count": 51,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# 外乱オブザーバ のあるシステムでのObserver gainを求めてみる。\n",
    "Target=SS\n",
    "# 状態空間の切り替えにうまく対応できていない。\n",
    "PhyM=ss(delay_tf*phym)\n",
    "#PhyM=control.canonical_form(delay_tf*phym,\"observable\")[0].minreal()\n",
    "#Target=PhyM \n",
    "Q=matmul(Target.C.transpose(),Target.C)\n",
    "K_T,*result=control.lqr(Target.A, Target.B, Q ,diag([1/Qw]))\n",
    "\n",
    "Ad=numpy.concatenate( \n",
    "  ( numpy.concatenate( (Target.A - matmul(Target.B, K_T), numpy.zeros((Target.nstates,1))),1),\n",
    "    numpy.zeros((1,Target.nstates+1))\n",
    "  ),\n",
    "  0\n",
    ")\n",
    "Bd=numpy.concatenate(\n",
    "  (\n",
    "   (Target.B, \n",
    "    [[0]])\n",
    "  )\n",
    "  ,0\n",
    ")\n",
    "Cd=numpy.concatenate((Target.C, [[1]]),1)\n",
    "Dd=numpy.zeros((1,1))\n",
    "print(\"Observable?\", matrix_rank(control.obsv(Ad,Cd))== Target.nstates+1)# observable!\n",
    "print(\"Controllable?\",matrix_rank(control.ctrb(Ad,Bd))== Target.nstates+1)# not cntrolable \n",
    "\n",
    "gamma=0.0\n",
    "G=(Target.nstates+1)*[[1]]\n",
    "G=Bd\n",
    "G[-1]=[1]\n",
    "for beta in ( 0.1,1,10,100):# weight parameter for disturbance in $G$\n",
    "  print(\"Hd for beta={}\\n\".format(beta), \n",
    "        control.lqe(Ad, beta*G, Cd, diag([1]) ,diag([1]))[0])\n",
    "\n",
    "# 状態変数と外乱の推定器ゲインを求める。 外乱推定を行わない推定器のゲイン＄H$を使っても大きな違いは出ない。\n",
    "beta=20\n",
    "g=30\n",
    "G=Bd\n",
    "G=beta*G\n",
    "G[-1]=[g]\n",
    "print(\"Controllable?\",matrix_rank(control.ctrb(Ad,G))== Target.nstates+1)# this case is contrallable.\n",
    "Hd,*rest=control.lqe(Ad, G, Cd, diag([1]) ,diag([1]))\n",
    "Hd, matmul(Hd,Cd), matmul(H,Target.C)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 52,
   "id": "da0ef375-c928-4109-85e6-698a91f9fb86",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "<LinearIOSystem>: Obsv_d\n",
      "Inputs (1): ['u[0]']\n",
      "Outputs (1): ['y[0]']\n",
      "States (4): ['x[0]', 'x[1]', 'x[2]', 'x[3]']\n",
      "\n",
      "A = [[-4.21638834e+02  8.93998995e+01  1.51093074e+01  4.66381206e-02]\n",
      "     [-1.00000000e+02  2.81960501e+00 -1.12784200e+01 -2.81960501e-01]\n",
      "     [ 0.00000000e+00  1.07039658e+02 -2.81586307e+01 -7.03965768e-01]\n",
      "     [ 0.00000000e+00  3.00000000e+02 -1.20000000e+03 -3.00000000e+01]]\n",
      "\n",
      "B = [[-0.04663812]\n",
      "     [ 0.2819605 ]\n",
      "     [ 0.70396577]\n",
      "     [30.        ]]\n",
      "\n",
      "C = [[-201.38833773  828.85280729   93.19782541    0.        ]]\n",
      "\n",
      "D = [[0.]]\n",
      "\n"
     ]
    }
   ],
   "source": [
    "## 外乱オブザーバを定義します。\n",
    "Obsv_d=control.ss(\n",
    "  Ad - matmul(Hd, Cd),\n",
    "  Hd,\n",
    "  numpy.concatenate((K_T, [[gamma]]),1) , numpy.matrix([[0]]),\n",
    "  name=\"Obsv_d\"\n",
    ")\n",
    "print(Obsv_d)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 53,
   "id": "b35f18af-00cd-4fc6-9453-dd8e892d840f",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrllrllrllrllrll|rll}\n",
       "-402\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&6.&\\hspace{-1em}98&\\hspace{-1em}\\phantom{\\cdot}&3.&\\hspace{-1em}92&\\hspace{-1em}\\phantom{\\cdot}&-20.&\\hspace{-1em}1&\\hspace{-1em}\\phantom{\\cdot}&82.&\\hspace{-1em}9&\\hspace{-1em}\\phantom{\\cdot}&9.&\\hspace{-1em}32&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-0.&\\hspace{-1em}1&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-4.&\\hspace{-1em}03&\\hspace{-1em}\\cdot10^{-15}&3.&\\hspace{-1em}2&\\hspace{-1em}\\cdot10^{-15}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&2.&\\hspace{-1em}4&\\hspace{-1em}\\cdot10^{-14}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0.&\\hspace{-1em}466&\\hspace{-1em}\\phantom{\\cdot}&-1.&\\hspace{-1em}87&\\hspace{-1em}\\phantom{\\cdot}&-422\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&89.&\\hspace{-1em}4&\\hspace{-1em}\\phantom{\\cdot}&15.&\\hspace{-1em}1&\\hspace{-1em}\\phantom{\\cdot}&0.&\\hspace{-1em}0466&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-2.&\\hspace{-1em}82&\\hspace{-1em}\\phantom{\\cdot}&11.&\\hspace{-1em}3&\\hspace{-1em}\\phantom{\\cdot}&-100\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&2.&\\hspace{-1em}82&\\hspace{-1em}\\phantom{\\cdot}&-11.&\\hspace{-1em}3&\\hspace{-1em}\\phantom{\\cdot}&-0.&\\hspace{-1em}282&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-7.&\\hspace{-1em}04&\\hspace{-1em}\\phantom{\\cdot}&28.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&107\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-28.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&-0.&\\hspace{-1em}704&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-300\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&1.&\\hspace{-1em}2&\\hspace{-1em}\\cdot10^{3}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&300\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-1.&\\hspace{-1em}2&\\hspace{-1em}\\cdot10^{3}&-30\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\hline\n",
       "0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-10\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&40\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "StateSpace(array([[-4.01500000e+02,  6.98100000e+00,  3.92400000e+00,\n",
       "        -2.01388338e+01,  8.28852807e+01,  9.31978254e+00,\n",
       "         0.00000000e+00],\n",
       "       [-1.00000000e+02, -4.03482376e-15,  3.20054605e-15,\n",
       "         0.00000000e+00,  0.00000000e+00,  0.00000000e+00,\n",
       "         0.00000000e+00],\n",
       "       [ 0.00000000e+00,  1.00000000e+02,  2.40212604e-14,\n",
       "         0.00000000e+00,  0.00000000e+00,  0.00000000e+00,\n",
       "         0.00000000e+00],\n",
       "       [ 0.00000000e+00,  4.66381206e-01, -1.86552482e+00,\n",
       "        -4.21638834e+02,  8.93998995e+01,  1.51093074e+01,\n",
       "         4.66381206e-02],\n",
       "       [ 0.00000000e+00, -2.81960501e+00,  1.12784200e+01,\n",
       "        -1.00000000e+02,  2.81960501e+00, -1.12784200e+01,\n",
       "        -2.81960501e-01],\n",
       "       [ 0.00000000e+00, -7.03965768e+00,  2.81586307e+01,\n",
       "         0.00000000e+00,  1.07039658e+02, -2.81586307e+01,\n",
       "        -7.03965768e-01],\n",
       "       [ 0.00000000e+00, -3.00000000e+02,  1.20000000e+03,\n",
       "         0.00000000e+00,  3.00000000e+02, -1.20000000e+03,\n",
       "        -3.00000000e+01]]), array([[-0.1],\n",
       "       [ 0. ],\n",
       "       [ 0. ],\n",
       "       [ 0. ],\n",
       "       [ 0. ],\n",
       "       [ 0. ],\n",
       "       [ 0. ]]), array([[  0., -10.,  40.,   0.,   0.,   0.,   0.]]), array([[0.]]))"
      ]
     },
     "execution_count": 53,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "fbsys_d=Target.feedback(Obsv_d) # 出力はSSの出力+u。入力も　SS_eと同じ (u)\n",
    "fbsys_d.name=\"fbsys_d\"\n",
    "fbsys_d"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 54,
   "id": "adfdcb3f-b68f-44da-ab90-e0e4fc276fca",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "              -100 s^5 - 7698 s^4 + 1.574e+07 s^3 + 1.22e+09 s^2 + 4.595e+10 s + 1.589e+11\n",
      "--------------------------------------------------------------------------------------------------------\n",
      "s^7 + 878.5 s^6 + 2.256e+05 s^5 + 1.491e+07 s^4 + 5.11e+08 s^3 + 8.654e+09 s^2 + 8.396e+10 s + 1.559e+11\n",
      "\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "1.0193679918449612"
      ]
     },
     "execution_count": 54,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "print(tf(fbsys_d.minreal()))\n",
    "fbsys_d.dcgain()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 55,
   "id": "5891348c-db2f-4961-b603-af31dc5d5315",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[-400.         +0.j         -400.33306731 +0.j\n",
      "  -27.0760555 +22.7187251j   -27.0760555 -22.7187251j\n",
      "  -10.81941689+14.62992761j  -10.81941689-14.62992761j\n",
      "   -2.35384738 +0.j        ] \n",
      " [-400.79149195 +0.j         -36.17870477+35.7786829j\n",
      "  -36.17870477-35.7786829j   -3.82895798 +0.j\n",
      "  400.         +0.j       ]\n"
     ]
    }
   ],
   "source": [
    "print(fbsys_d.poles(),\"\\n\",fbsys_d.zeros())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 56,
   "id": "1c138c07-07c3-4dca-8c87-888b14f2c1bf",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[-399.99999966 +0.j         -400.00000034 +0.j\n",
      "  -10.81941689+14.62992761j  -10.81941689-14.62992761j\n",
      "  -21.30522569+23.47099576j  -21.30522569-23.47099576j] \n",
      " [ -21.30522569+23.47099576j  -21.30522569-23.47099576j\n",
      " -400.         +0.j        ]\n"
     ]
    }
   ],
   "source": [
    "print(fbsys_e.poles(),\"\\n\",fbsys_e.zeros())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 57,
   "id": "7c859b4c-5860-4916-81d2-359b4040c2ce",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "matrix([[1.01936799]])"
      ]
     },
     "execution_count": 57,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# 外乱オブザーバを入れた時に期待される DCgain(次の節参照）\n",
    "-Target.C*matrix(Target.A)**(-1)*Target.B"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 58,
   "id": "81354da9-60af-4178-9fe8-ec63e517cdd3",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "fbsys_d 1.0193679918449612 \n",
      "\t [-400.         +0.j         -400.33306731 +0.j\n",
      "  -27.0760555 +22.7187251j   -27.0760555 -22.7187251j\n",
      "  -10.81941689+14.62992761j  -10.81941689-14.62992761j\n",
      "   -2.35384738 +0.j        ]\n",
      "sys[176] [[0.30202852]\n",
      " [0.29628998]] \n",
      "\t [-399.99999966 +0.j         -400.00000034 +0.j\n",
      "  -10.81941689+14.62992761j  -10.81941689-14.62992761j\n",
      "  -21.30522569+23.47099576j  -21.30522569-23.47099576j]\n",
      "sys[183] [[1.   ]\n",
      " [0.981]] \n",
      "\t [-398.77529207 +0.j         -400.         +0.j\n",
      "  -21.30522569+23.47099576j  -21.30522569-23.47099576j\n",
      "   -5.92012251 +0.j          -16.94341919 +0.j        ]\n",
      "sys[107] 1.0 \n",
      "\t [-388.6087963  +0.j           -2.21733464+11.90386149j\n",
      "   -2.21733464-11.90386149j   -2.71453442 +0.j        ]\n",
      "Plant 1.0193679918450622 \n",
      "\t [-400.  +0.j           -0.75+9.87610753j   -0.75-9.87610753j]\n"
     ]
    }
   ],
   "source": [
    "for s in (fbsys_d, fbsys_e, FFB, LimSenFB, Target):\n",
    "  print(s.name, s.dcgain(),\"\\n\\t\",s.poles())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 59,
   "id": "a11626db-91fa-4520-9305-18c8b7c855d5",
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/Library/Frameworks/Python.framework/Versions/3.9/lib/python3.9/site-packages/control/timeresp.py:1812: UserWarning: System has direct feedthrough: ``D != 0``. The infinite impulse at ``t=0`` does not appear in the output.\n",
      "Results may be meaningless!\n",
      "  warnings.warn(\"System has direct feedthrough: ``D != 0``. The \"\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# 時間応答の比較\n",
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,1)\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "\n",
    "T=linspace(0,3,10000)\n",
    "\n",
    "sres=step_response(fbsys_d,T)\n",
    "ires=impulse_response(fbsys_d,T,)\n",
    "axes[0].plot(sres.t,sres.y[0, 0,:],label=\"FB_D\")\n",
    "axes[1].plot(ires.t,ires.y[0, 0,:])\n",
    "\n",
    "sres=step_response(FFB,T)\n",
    "ires=impulse_response(FFB,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"FFB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "sres=step_response(fbsys_e,T)\n",
    "ires=impulse_response(fbsys_e,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"SFB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "             \n",
    "sres=step_response(LimSenFB,T)\n",
    "ires=impulse_response(LimSenFB,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"SensLimFB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "sres=step_response(SS,T)\n",
    "ires=impulse_response(SS,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"Plant\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "fig.legend()\n",
    "fig.tight_layout()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 60,
   "id": "3a818892-e79d-49e2-b9a4-285d90c1f217",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#omega=linspace(1.0,1e2,4000)\n",
    "omega=numpy.logspace(0,2,4000)\n",
    "bp=control.bode_plot(fbsys_d,omega,label=\"FB_D\")\n",
    "bp=control.bode_plot(ss([],[],[], [1,0])*FFB, bp[2],label=\"FFB\")\n",
    "bp=control.bode_plot(ss([],[],[], [1,0])*fbsys_e,bp[2],label=\"SFB\")\n",
    "bp=control.bode_plot(LimSenFB,bp[2],label=\"SensLimFB\")\n",
    "bp=control.bode_plot(SS,omega,label=\"Plant\")\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "pyplot.legend();pyplot.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "2857ce19-37d6-40a6-9fbf-237f03efc64f",
   "metadata": {},
   "source": [
    "`bode_plot()`,`nyquist_plot` は複数のシステムを一度に指定することも可能です。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 61,
   "id": "a9f4abe1-b698-46ef-b6bd-827b476616de",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#omega=linspace(1.0,1e2,40000)\n",
    "omega=numpy.logspace(0,2,4000)\n",
    "pyplot.clf()\n",
    "np=control.bode_plot([\n",
    "  fbsys_d,\n",
    "  ss([],[],[], [1,0])*FFB,\n",
    "  ss([],[],[], [1,0])*fbsys_e,\n",
    "  LimSenFB,\n",
    "  SS\n",
    "  ],\n",
    "  omega,\n",
    ")\n",
    "pyplot.gca().axhline(-180,color=\"red\", linewidth=0.5)\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "pyplot.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "cecce8b8-933c-4877-81f6-13a1e173a91a",
   "metadata": {},
   "source": [
    "### Python-controlで利用可能なその他のプロット"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 62,
   "id": "5c365fc1-8bf1-4072-b8c5-bdd9fd026af6",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#omega=numpy.logspace(-3,2,4000)\n",
    "np=control.nyquist_plot([fbsys_d,\n",
    "                         ss([],[],[], [1,0])*FFB,\n",
    "                         ss([],[],[], [1,0])*fbsys_e,\n",
    "                         LimSenFB,\n",
    "                        ],\n",
    "                        #omega=omega,\n",
    "                        omega_limits=(0.001,1e3), omega_num=4096, \n",
    "                        plot=True)\n",
    "fig=pyplot.gcf()\n",
    "fig.set_size_inches(10,5)\n",
    "fig.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "332e3fda-d143-4f46-9c77-5b9bc44adb55",
   "metadata": {},
   "source": [
    "## マージン\n",
    "SISOシステムでは`margin()`でゲインマージン(gm),位相マージン(pm), 位相が-180度を超える周波数(wcg), ゲインが1を下回る周波数(wcp)を求めます。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 63,
   "id": "406e4a83-c052-4985-a404-98aec7343041",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "name: fbsys_d,\n",
      "\t dcgain:1.0193679918449612, \n",
      "\t poles:[-400.         +0.j         -400.33306731 +0.j\n",
      "  -27.0760555 +22.7187251j   -27.0760555 -22.7187251j\n",
      "  -10.81941689+14.62992761j  -10.81941689-14.62992761j\n",
      "   -2.35384738 +0.j        ]\n",
      "\t margin:(7.776876025647362, 171.63322451118484, 35.16135765238297, 0.6017375201380387)\n",
      "name: sys[283],\n",
      "\t dcgain:0.9999999999999366, \n",
      "\t poles:[-398.77529207 +0.j         -400.         +0.j\n",
      "  -21.30522569+23.47099576j  -21.30522569-23.47099576j\n",
      "   -5.92012251 +0.j          -16.94341919 +0.j        ]\n",
      "\t margin:(46.81557959955664, inf, 67.3510554961839, nan)\n",
      "name: sys[286],\n",
      "\t dcgain:0.30202851696824606, \n",
      "\t poles:[-399.99999966 +0.j         -400.00000034 +0.j\n",
      "  -10.81941689+14.62992761j  -10.81941689-14.62992761j\n",
      "  -21.30522569+23.47099576j  -21.30522569-23.47099576j]\n",
      "\t margin:(44.50463396423072, inf, 67.35105549618392, nan)\n",
      "name: sys[107],\n",
      "\t dcgain:1.0, \n",
      "\t poles:[-388.6087963  +0.j           -2.21733464+11.90386149j\n",
      "   -2.21733464-11.90386149j   -2.71453442 +0.j        ]\n",
      "\t margin:(67.11139373729843, 100.77077626786178, 391.3017858416142, 13.993743426305334)\n",
      "name: 制御モデル 時間遅れ有,\n",
      "\t dcgain:1.019367991845054, \n",
      "\t poles:[-400.  +0.j           -0.75+9.87610753j   -0.75-9.87610753j]\n",
      "\t margin:(3.0074504054896884, 8.11056518752136, 19.933764307100347, 13.995414100411594)\n"
     ]
    }
   ],
   "source": [
    "#    gm : float\n",
    "#        Gain margin\n",
    "#    pm : float\n",
    "#        Phase margin (in degrees)\n",
    "#    wcg : float or array_like\n",
    "#        Crossover frequency associated with gain margin (phase crossover\n",
    "#        frequency), where phase crosses below -180 degrees.\n",
    "#    wcp : float or array_like\n",
    "#        Crossover frequency associated with phase margin (gain crossover\n",
    "#        frequency), where gain crosses below 1.\n",
    "\n",
    "for s in [fbsys_d,\n",
    "  ss([],[],[], [1,0])*FFB,\n",
    "  ss([],[],[], [1,0])*fbsys_e,\n",
    "  LimSenFB, Plant\n",
    "  ]:\n",
    "  print(f\"name: {s.name},\\n\\t dcgain:{s.dcgain()}, \\n\\t poles:{s.poles()}\\n\\t margin:{control.margin(s)}\")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "dd26436c-72ee-4453-9208-555194b935a0",
   "metadata": {},
   "source": [
    "## その他のシステム分析ツール\n",
    "stability_margins/phase_crossover_frequencies/step_info/root_locus/pzmap/sisotool\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 64,
   "id": "3b8f4452-6764-46ce-b607-59138cee07e1",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(7.776876025647362,\n",
       " 171.63322451118484,\n",
       " 0.7508618018098547,\n",
       " 35.16135765238297,\n",
       " 0.6017375201380387,\n",
       " 23.778178405049818)"
      ]
     },
     "execution_count": 64,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "\"\"\"\n",
    "control.stability_margins(sysdata, returnall=False, epsw=0.0, method='best')\n",
    "returs:\n",
    "\n",
    "gm (float or array_like) – Gain margin\n",
    "\n",
    "pm (float or array_like) – Phase margin\n",
    "\n",
    "sm (float or array_like) – Stability margin, the minimum distance from the Nyquist plot to -1\n",
    "\n",
    "wpc (float or array_like) – Phase crossover frequency (where phase crosses -180 degrees), which is associated with the gain margin.\n",
    "\n",
    "wgc (float or array_like) – Gain crossover frequency (where gain crosses 1), which is associated with the phase margin.\n",
    "\n",
    "wms (float or array_like) – Stability margin frequency (where Nyquist plot is closest to -1)\n",
    "\"\"\"\n",
    "\n",
    "control.stability_margins(fbsys_d)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 65,
   "id": "698d18cf-ee24-40c3-97b0-658044d02840",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(array([35.16135765,  0.        ]), array([-0.12858634,  1.01936799]))"
      ]
     },
     "execution_count": 65,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "control.phase_crossover_frequencies(fbsys_d)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 66,
   "id": "8bc0a270-ac4c-4fc3-99d4-4ccd5dd19b7c",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{'RiseTime': 0.6011988851077203,\n",
       " 'SettlingTime': 1.3450551327833744,\n",
       " 'SettlingMin': 0.9181449566557959,\n",
       " 'SettlingMax': 1.0193679918449612,\n",
       " 'Overshoot': 0,\n",
       " 'Undershoot': 0.015830902887751644,\n",
       " 'Peak': 1.018890164692977,\n",
       " 'PeakTime': 2.9346657442546347,\n",
       " 'SteadyStateValue': 1.0193679918449612}"
      ]
     },
     "execution_count": 66,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "control.step_info(fbsys_d)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 67,
   "id": "d0d5ffb6-b0d4-4cdc-b918-ab0a750c94d4",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "roots, gains=control.root_locus(fbsys_d)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 68,
   "id": "a7093bd1-a345-4023-89a8-b917e3a32bb1",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1152x648 with 4 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#control.sisotool : 名前の通り、sisoのLTIを引数にとって、典型的な図を作成します。\n",
    "\"\"\"\n",
    "Sisotool style collection of plots inspired by MATLAB’s sisotool. \n",
    "The left two plots contain the bode magnitude and phase diagrams. \n",
    "The top right plot is a clickable root locus plot, clicking on the root locus will change the gain of the system. \n",
    "The bottom right plot shows a closed loop time response.\n",
    "\"\"\"\n",
    "control.sisotool(fbsys_d)\n",
    "pyplot.gcf().set_size_inches((16,9))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 69,
   "id": "84220db2-b762-4721-b129-7692bf3cfdf4",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1152x648 with 4 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "control.sisotool(LimSenFB)\n",
    "pyplot.gcf().set_size_inches((16,9))"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "637f5caf-c989-4d53-b654-cc42f32c526a",
   "metadata": {},
   "source": [
    "## ニコラス図\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 70,
   "id": "b339369f-cfb6-4d66-b987-06c1e27f4904",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 576x360 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "control.nichols_plot(\n",
    "  (fbsys_d,\n",
    "   ss([],[],[], [1,0])*FFB,\n",
    "   ss([],[],[], [1,0])*fbsys_e,\n",
    "   LimSenFB, \n",
    "   Plant\n",
    "  ) ,numpy.logspace(-2,2.5,4096) #linspace(0.1,1e2,40000)\n",
    ")\n",
    "pyplot.gca().legend([\"fbsys_d\",\"FFB\",\"fbsys_e\",\"LimSensFB\", \"Target Plant\"])\n",
    "pyplot.gcf().set_size_inches(8,5)\n",
    "pyplot.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "21f8613b-474b-41b8-981a-ab760106122b",
   "metadata": {},
   "source": [
    "### Gang of 4 plot\n",
    "入力の二つのシステム $P$ , $C$　に対して、\n",
    "```\n",
    " L = P * C\n",
    " S = feedback(1, L)\n",
    " T = L * S\n",
    "```\n",
    "で定義される$T,S$を使い、　$[T, PS; CS, S]$の四つの周波数応答をプロットしたもの"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 71,
   "id": "7596b5a5-9233-4dc7-8525-d9ba66b89541",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 4 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "omega=numpy.logspace(0,2,4000)\n",
    "control.gangof4_plot(fbsys_d,Plant, omega)\n",
    "fig=pyplot.gcf()\n",
    "pyplot.gcf().set_size_inches(10,5)\n",
    "#fig.legend()\n",
    "fig.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "be90aec9-e675-44df-a906-a4e38074619f",
   "metadata": {},
   "source": [
    "### singular values plot"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 72,
   "id": "84e161ed-d503-4c1e-a8ed-112d94ba1f46",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.legend.Legend at 0x12a1c4e50>"
      ]
     },
     "execution_count": 72,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "control.singular_values_plot([fbsys_d,\n",
    "                                ss([],[],[], [1,0])*FFB,\n",
    "                                ss([],[],[], [1,0])*fbsys_e,\n",
    "                                LimSenFB, Plant\n",
    "                               ]\n",
    "                               ,omega)\n",
    "fig=pyplot.gcf()\n",
    "fig.set_size_inches(10,5); fig.tight_layout()\n",
    "pyplot.gca().legend([\"fbsys_d\",\"FFB\",\"fbsys_e\",\"LimSensFB\", \"Target Plant\"])"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "7d667ef5-922d-463e-b9b1-57baacf83bfe",
   "metadata": {},
   "source": [
    "## タイムドメインでの応答を調べるための関数の使用例\n",
    "python/controlモジュールの機能を使って、タイムドメインでのシステムの振る舞いを見てみます。\n",
    "\n",
    "`control.forced_response()`は与えられた入力の時間変化データに対するシステムの応答を計算します。\n",
    "計算結果は、`inputs, outputs, states` の属性を持つオブジェクトとして返されます。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 73,
   "id": "0c93093b-cea1-4ac1-89c7-041fb81c8662",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.legend.Legend at 0x13ecd35b0>"
      ]
     },
     "execution_count": 73,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1152x360 with 4 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# control.forced_response 関数を使って、矩形入力に対する応答を見てみる。\n",
    "# control.matlab.lsimも同様の機能をもつ。\n",
    "Nd=4096;Tw=10; Tsw=5\n",
    "T=numpy.linspace(0,Tw,Nd)\n",
    "U=numpy.zeros(Nd)\n",
    "U[0:Nd//(Tw//Tsw)]=1\n",
    "\n",
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,2, figsize=(8,5))\n",
    "fig.set_size_inches(16,5)\n",
    "\n",
    "# forced_response/control.matlab.lsim 関数\n",
    "result=control.forced_response(fbsys_d,T=T,U=U)\n",
    "axes[0,0].plot(result.time,result.outputs, label=\"fbsys_d\")\n",
    "axes[0,0].plot(result.time,result.states[-1,:], label=\"displacement estimate\")\n",
    "ufb=numpy.array( -K@(result.states[0:3,:]))[0,:]\n",
    "axes[1,0].plot(result.time, ufb, label=\"ufb\")\n",
    "axes[1,0].plot(result.time,result.inputs, label=\"input\")\n",
    "\n",
    "# control.input_output_response 関数\n",
    "# 第一引数は　SSとは別のクラスオブジェクトが必要。\n",
    "result=control.input_output_response(control.ss2io(fbsys_d), T=T, U=U)\n",
    "\n",
    "axes[0,1].plot(result.time, result.outputs, label=\"fbsys_d\")\n",
    "axes[0,1].plot(result.time, result.states[-1,:], label=\"displacement estimate\")\n",
    "ufb=numpy.array(-K@(result.states[0:3,:]))[0,:]\n",
    "axes[1,1].plot(result.time, ufb, label=\"ufb\")\n",
    "axes[1,1].plot(result.time, result.inputs, label=\"input\")\n",
    "pyplot.tight_layout()\n",
    "pyplot.gcf().axes[0].legend()\n",
    "#axes[0,0].legend();axes[0,1].legend()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 74,
   "id": "6714127f-c4e2-4512-88bf-a4acade52875",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(7.776876025647362, 171.63322451118484, 35.16135765238297, 0.6017375201380387) (3.0074504054896884, 8.11056518752136, 19.933764307100347, 13.995414100411594)\n"
     ]
    }
   ],
   "source": [
    "# margin関数は、システムの以下の情報を表示します。\n",
    "# gm : float\n",
    "#        Gain margin\n",
    "#    pm : float\n",
    "#        Phase margin (in degrees)\n",
    "#    wcg : float or array_like\n",
    "#        Crossover frequency associated with gain margin (phase crossover\n",
    "#        frequency), where phase crosses below -180 degrees.\n",
    "#    wcp : float or array_like\n",
    "#        Crossover frequency associated with phase margin (gain crossover\n",
    "#        frequency), where gain crosses below 1.\n",
    "print(control.margin(fbsys_d),control.margin(Plant))"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "24023394-0c88-44c1-85bb-f0cb8dd279d2",
   "metadata": {},
   "source": [
    "# 付録\n",
    "## 等価な状態空間を用いた解析\n",
    "\n",
    "状態方程式によるシステムの表現は一意的ではなく、同じ入力と出力の関係を保ちながら、異なった状態空間に写すことができます。 `canonical_form`関数をつかうことで、\"reachable, observable, modal”と言った\n",
    "標準形に変換したら、min_real()　関数／メソッドを使うことで、内部状態の数が最小となる等価な状態空間表現に変換できます。\n",
    "\n",
    "\n",
    "\n",
    "等価な二つの状態空間の状態ベクトル $X$ と $X'$ がお互いに正則な行列 $U$ で関連付けれれているとき、$ X= U^{-1} X',　X' = U X$状態方程式の係数も\n",
    "$ A' = U A U^{-1}, B' = U B, C' = C U^{-1} , D' = D$ と変換されれば、この二つの状態空間表示 $ ss(A,B,C,D)$ と ss(A',B',C',D')$ は 等価な状態空間表示で、入力と出力の関係が一致します。\n",
    "\n",
    "\n",
    "二つの状態空間の状態変数が $X' = U X$ の関係を持つ時、状態方程式の係数が $A = U A' U^{-1}, B= U B', C= C' U^{-1}, D= D'$ と変換されれば、等価な状態方程式を与える。Ricatti 方程式の解　は$P' = U^T P U$ を持つ。フィードバックゲインは、\n",
    "\n",
    "$$K'= - R^{-1} B'^{T} P' = - R^{-1} B^{T} {U^{T}}^{-1} U^{T} P U= -K U$$\n",
    "\n",
    "となる。この時、最適状態制御の制御則は、$ u = -K' X' = - K X$を与える　$K$ および　$K$は　$K = K' U^{-1}$で関係付けられる。\n",
    "この時、最適化されている量は、\n",
    "$\\int dt \\left[ X^{T} Q X + u^{T} R u \\right]= \\int dt \\left[ {X'}^{T} U^{T} Q U X' + u^{T} R u \\right]\n",
    "となり、$X'$空間で見た時の、状態変数に対する重み関数 $Q'$は　$Q$とは異なり対称ではあるが、対角な行列とは限らない。このため、単純に対角な重み関数を選んでも、元の状態空間での結果を再現することはできない。\n",
    "\n",
    "最適化の条件を$\\int dt \\left[ X^{T} Q X + u^{T} R u \\right]$ではなく、物理的な入出力に限って\n",
    "$\\int dt \\left[ Y^{T} Q Y + u^{T} R u \\right]$を極小とすることで、状態空間の選択によらないフィードバックを得る。\n",
    "\n",
    "$$\n",
    "A^T P + P A - P B R^{-1} B^T P + Q = 0\n",
    "$$\n",
    "\n",
    "$$\n",
    " A' U^T P U + U^{T}P U A'   - U^{T}P U B' R^{-1} B'^{T}  U^{T}  P U + U^{T} Q U= 0\n",
    "$$\n",
    "\n",
    "\n",
    "別の方法として、 `lqr` の  `Q` を  可観測行列を使って、$obsv^{T} Q_o obsv$ とパラメータ化しておくと、状態空間によらない\n",
    "重み付け行列 $O_o$ を使うことができます。　`lqe`では `G` を `obsv G_o` として、パラメータ化することで、状態空間の選択に依存しない重み行列 $G_o$ を使うことができます。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 75,
   "id": "ac19511d-8621-4a9b-bb1a-5d9f674e1361",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[ 0.00000000e+00  0.00000000e+00  4.12310563e+02]\n",
      " [ 0.00000000e+00 -4.00734620e+04 -9.70142500e+03]\n",
      " [ 7.78071317e+06  1.92527766e+06  2.11369797e+04]]\n",
      "[[ 9.68364052e-03 -3.64589066e+00  1.46311722e+03]\n",
      " [ 2.49541704e-03 -1.94136107e+00  7.54228139e+02]\n",
      " [ 0.00000000e+00 -2.42535625e-01  1.94392303e+02]]\n",
      "[[ 0.00000000e+00  0.00000000e+00  3.20807022e+09]\n",
      " [ 0.00000000e+00  1.60588235e+09 -1.86779369e+10]\n",
      " [ 3.20807022e+09 -1.86779369e+10  4.46771912e+08]]\n"
     ]
    }
   ],
   "source": [
    "\"\"\"\n",
    "form : str\n",
    "        Canonical form for transformation.  Chosen from:\n",
    "          * 'reachable' - reachable canonical form\n",
    "          * 'observable' - observable canonical form\n",
    "          * 'modal' - modal canonical form\n",
    "\"\"\"\n",
    "PhyM=control.canonical_form(Delay*phym,\"reachable\")[0].minreal()\n",
    "\n",
    "print(control.obsv(PhyM.A,PhyM.C))\n",
    "print(control.ctrb(PhyM.A,PhyM.B))\n",
    "print(matmul(control.obsv(PhyM.A,PhyM.C).transpose(),Qo)*control.obsv(PhyM.A,PhyM.C))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 76,
   "id": "a282109c-2dbf-4a92-92c1-9d8fb7be97b7",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$$\n",
       "\\left(\\begin{array}{rllrllrll|rll}\n",
       "-21.&\\hspace{-1em}8&\\hspace{-1em}\\phantom{\\cdot}&10.&\\hspace{-1em}2&\\hspace{-1em}\\phantom{\\cdot}&-143\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-86.&\\hspace{-1em}5&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-16.&\\hspace{-1em}8&\\hspace{-1em}\\phantom{\\cdot}&-244\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-158\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&28.&\\hspace{-1em}9&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "-3.&\\hspace{-1em}66&\\hspace{-1em}\\cdot10^{-15}&-195\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-196\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&-32\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\hline\n",
       "2.&\\hspace{-1em}06&\\hspace{-1em}\\phantom{\\cdot}&-1.&\\hspace{-1em}38&\\hspace{-1em}\\phantom{\\cdot}&1.&\\hspace{-1em}63&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n",
       "\\end{array}\\right)\n",
       "$$"
      ],
      "text/plain": [
       "<LinearIOSystem:Observer:['u[0]']->['y[0]']>"
      ]
     },
     "execution_count": 76,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# 状態フィードバックゲイン\n",
    "PhyM=control.canonical_form(Delay*phym,\"modal\")[0].minreal()\n",
    "PhyM=PhyM.minreal()\n",
    "#Qw=2e3\n",
    "# Qとして、matmul(SS.C.transpose(),SS.C)を使ってみる、これは $\\int dt y^{T} y $を最小化するのと等価。\n",
    "#\n",
    "Qw=10\n",
    "Qo=diag([1,0,0])\n",
    "Q=matmul(control.obsv(PhyM.A,PhyM.C).transpose(),matmul(Qo, control.obsv(PhyM.A,PhyM.C)))\n",
    "K,P,e_K=control.lqr(PhyM.A, PhyM.B, Q ,diag([1/Qw]))\n",
    "\n",
    "K=matrix(K) # あるいは、行列としての積がが必要なところで、numpy.matmulを使う。\n",
    "\n",
    "#推定器ゲイン\n",
    "Gw=10\n",
    "G=matmul(control.ctrb(PhyM.A, PhyM.B),diag([1, 0, 0]))\n",
    "H,P,e_H=control.lqe(PhyM.A, \n",
    "                 Gw*G,\n",
    "                 PhyM.C, \n",
    "                 diag([1, 1, 1]),\n",
    "                diag([1]))\n",
    "H=matrix(H) # あとで、行列としての演算が必要なのでarrayではなく、matrixにしておく。\n",
    "\n",
    "# ObsvはPlantからの出力　:math:`y` を入力として、フィードバック用の出力　:math:`u`を出力する。\n",
    "# この推定器だと、元のシステムで入力が0の場合の動作しか推定していない。\n",
    "Obsv=control.ss(\n",
    "  PhyM.A - numpy.matmul(H,PhyM.C) - numpy.matmul(PhyM.B, K),\n",
    "  H,\n",
    "  -K , \n",
    "  numpy.matrix([0])\n",
    ")\n",
    "Obsv.name=\"Observer\"\n",
    "Obsv"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 77,
   "id": "f9e94f49-9e40-4f05-a021-1451a8f2c94a",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "dcgain: 0.661208626104003\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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Bz6yv49l2soA3p/RkaqzxNsixszLno+m9eckhiS+2JlNWXc/rk3ui02jnSiGEEEILsoqrDVgcn0FPXye6eDtoHcoF2ViaMaOvP78n5ZBeVKV1OB2KwaDyyPf72Xwsn9eu62HUpPkPOp3C8xMieWhUGD/GZ/Dc0gSZtiGEEKJDkcTZxB3OLiMpu4zrenXWOpQmuWVAIDpFkQ1RWtnba46yMiGHZ6/qyrQ+LbeAVFEUHh0dxt3Dglm4M43/rTgsybMQQogOQxJnE7dkXybmOoWJ0W0jcfZ2subKHp34MT6dqroGrcPpEJbsy2D2hpNM7+vHHYODWrw/RVF4elwEtw4IYM6WZPmQJIQQosOQxNmENegNLNmXyYgIT1ztLLUOp8luGRBAeU0DS/dnaR1Ku5eQWcpTPx2if7ArL07s3mo7/SmKwvMTujE20ouXf0ti/ZHcVulXCCGE0JIkziZs64kC8strmdzbV+tQmiUmwIUIbwcW7EiVy/gtqKK2gQe/24ernSUf3xjT6hvP6HQK790QTddOjjz47T4OZ5e1av9CCCFEa5PE2YQt3puJs60FIyLa1mYxiqJwU/8AkrLL2JdeonU47dZzvyaQWljJ+zdEa3ZFwtbSnC9u7YOdlTn3LoynrKZekziEEEKI1mCaRYEFZTX1/J6Yw/WxfliZm2kdTrNd06szr608wsKdqfT2d9E6nHbnl32Z/Lw3k4dHhdEv2E3TWLydrJl9Y29u+HwnT/10kI9v7N1qU0bEpcsureZITjkZxdWUVNZRpzdgbWGGk40F/q62dPF2wMvRWuswhRDCpEjibKJWHsqmtsHA5Ji2NU3jD/ZW5lzbqzOL4tJ59qrINjVH29TlldXw3K8JxAS48ODIUK3DAaBPoCtPXtGFV1ceYf62FG5vhUWKonn0BpVtJwpYmZDDpqN5ZJXW/O1xRYGzZ1YFudsxJMydMZFeDApxl7rdQogOTxJnE7XsQDYBbrZE+TppHcolu6l/AF/vTOXHuHTuHhaidTjtgqqq/N8vCdQ2GHhzSk/MzUxnttWsocHsSSnmfysOE+3vLFcaTER5TT0/xmXw5fYU0oqqsLM0Y1gXD+4KdKVHZyf8XW1xtbPE3ExHbYOeoso6UgqqSMouY9uJAn6My2DBjlQ6O9swrY8fN/cPwEU+CAshOihFq8VbsbGxalxcnCZ9m7rCilr6vLKWe4eH8MQVEVqHc1mu/3QHOWU1bHx8uIxWGcGyA1k8+N0+/j0+wiQ/jJRW1XPVh1vQKQorHh6C/WVu9y0uXYPewHe703h37XGKKuuICXBh5sBAxkR6YW3R9OlfNfV61iTlsmhPOltPFGBvZc7MgYHcOSQIZ1tJoIUQbZuiKPGqqsY29XjTGa4Sf1qZkINBhat7+mgdymW7aUAAaUVVbDqer3UobV5JVR0vLE2kp69Tq9RrvhROtha8Ny2ajOIqXl6epHU4HVZ8ahHj3t/Cf35NJNzLniX3DWTxvQOZEOXTrKQZwNrCjAlRPiy8sx+rHxnKsHAPPtpwghFvbeT73WkYDFI5RwjRcUjibIKWH8wi2MOOCBPfYrspxnXzxt3ekm93pWkdSpv31u9HKamu57XrTGuKxtliA125Z1gI3+9JZ02S1HduTbUNel5beYSpn+6guk7PnFti+e6u/vQy0rSZLt4OzL6xNyseGkKopz1P/3yIyZ9u52R+hVHaF0IIU2e6774dVF55DbuSi7i6p0+7qExgaa5jSowf6w7nkl1arXU4bVZCZinf7Erj5v4BRPo4ah3ORT0yOpzITo48vfggBRW1WofTIWQUVzHlkx18uukk18f6seqRIYyJ9GqRvyORPo78cPcA3p4aRXJBJVd9sIWFO6VuuxCi/ZPE2cSsPJSDqsKEnp20DsVoZvT1x6DCoj3pWofSJhkMKs/9moCbnSWPjgnXOpwmsTTX8d4N0ZTXNvDvnw9JQtXCtp8oYOJH20gpqOSzm2N4bXJPHKwtWrRPRVGYHOPL6keG0ifQlWd/SeDOr+Iorqxr0X6FEEJLkjibmOUHs+ji5UCYV9ufpvEHfzdbhoS5s2hPOg16g9bhtDk/78tkb1oJT42LwMmmZZMhYwr3cuDJK7qwJimXxXsztQ6n3foxLp2b5+3Gzc6SXx8YxBXdvFu1fy9Ha766rS/PT4hky/ECJs7eSlKW7CIphGifZMm7CckprWFPSjGPtZFRxea4sZ8/9yzcy8aj+YyO9NI6nDajvKae11Yeppe/c5vbeh3g9kFBrE7M4b/Lkxga7o6ng2yoYSyqqvLpplO8vuoIQ8Lc+eSmGM2qmOh0CrcNCiLaz5l7FsZz3SfbeGNKFBOj2v4C5/Yor6yGQ5mlJGWVcSK/gpzSGvLLa6mu11N/enDD3socB2sLfJyt8Xe1JdTTnl7+LoR62EuFJNGhSeJsQn47lA3A1e1omsYfRnX1wtPBim92pUri3AyfbTpFQUUd82b2aZNvVjqdwmuTezL+/S08/2sin9wUo3VI7YLBoPLKisN8sTWZiVE+vDU1Cktz7S8g9vJ3YdmDg7lv4V4e+m4fJ/IqeHR0WLtYr9GWGQwqu1OKWJWQw7YTBRzP+2sxZ2dnG3ycrenq44i9pTkW5gp6A1TWNlBaXc/J/Eo2HM2nrqExoXawMicm0IVRXb0Y09ULbyf5MCw6FkmcTcjyg1lEdnIk2MNe61CMzsJMx7Q+fny04QQZxVX4uthqHZLJyymtYe7WU0yK9qGnr7PW4VyyEA97HhkdxhurjrLyUDbje7S/D4atSVVVnl+ayNc7U5k5MJDnro40qQ9Vng7WfHtXf55ZcogP1h0nu6Sa/13XAwsTrgTTXiUXVPL9njSW7c8iq7QGawsdfYPcmBrrS0yAC128HZt0lcJgUEkurGRfWgl704rZdqKA//ySwH9+SSDKz5kpMb5MjPJpU1PJhLhUkjibiMySavallfDEFV20DqXF/JE4L9qTzr/Gtt+f01jeXXMMgwEebwf/V3cNCea3g9n859dEBoa442Qrb7CXQlVVXlqexNc7U5k1NJh/j48wydFcS3Mdb07pSWdnG95fd5zc8lo+vrG3bIjTClRVZVdyEXO3JLPuSC5misLQcA+eGh/BmEgvbC2bfw50OoUQD3tCPOyZEuOLqqqczK/g96Rclh3I5j+/JPDy8iSu7NGJOwYH0b1z293xVoiLkb9iJuL3xBwAxndv3YU9rcnXxZbh4R58vyedh0aFyQjUBRzNKefH+HRuHxSEn2vbH523MNPx+uSeTJq9jf/+lsRbU6O0DqnNUVWVV1ceYf62FG4bFGiySfMfFEXh0THh+Dhb88ySBG74fAdf3dYXN3srrUNrt3YnF/HGqiPEpRbjYmvBgyNCuWlAgNHXFiiKQqinA6GeDtw7LITErDIW7Ulnyb5MluzLZFCoG7OGhjA0zN2kf0eFuBSSOJuI1Yk5hHvZt8tpGme6sV8Ady6IY93hXMZ1l0v25/PaysPYW5nzwMhQrUMxmu6dnbh7aDAfbzzJxCgfhoZ7aB1SmzJ7wwk+33yKWwYE8NzVkW0mIZnWxx9PB2vuWRjPtM93svCOfjIv1siO5pTz2srDbDiaj5ejFf+d1I2psX7N3iXyUiiKQvfOTnTv7MQT47rw7a405m9L5tZ5u+ne2ZHHx3ZhWLhHm/l97Uiq6/SkFlWSUVRNYWUthZV1lFbVU6c30KBX0asqNhZm2FqaYWdljoe9FZ2crPF2ssbH2aZVfr9MkaJVfdXY2Fg1Li5Ok75NTWFFLX1eWcv9I0Lb/RSGBr2BIW9sINTTnq/v6Kd1OCZp+4kCZszdxb/HR3D3sBCtwzGqmno9V36whdp6A78/OhQ7uXTfJD/EpfPkTwe5tldn3p4aZVJzmptq56lC7vhyD672lnx7Z/92cSVFa5W1Dby/7jhfbE3G3sqce4eHcOuAQGwstU1oahv0/Loviw/WHyejuJq+Qa48Na4LMQGumsbVkZVW1XMgo4T96SUcSC8hKbuM7NKafxxnaa7DykyHuZmCTlGoqddTVa/n7FRRUSDA1ZYu3g508XakZ2cnYgNdcLa1bKWfyHgURYlXVTW2ycdL4qy9H/ak8+Tigyx/cHCHmBv23tpjvLf2OJufGIG/m7x5nklVVSbN3kZhRR3r/jWsXX6ij0spYsqnO5g5MJAXJnbTOhyTt+FIHncuiGNgiBtf3NrHJKpnXKr96SXcOm83NhZmLLyzH6Ge7fsKW0tRVZVVCTm8uCyJnLIapvf148krInCxM62kpbZBz/e70/lw/QkKKmoZ3dWTZ67s2u6vrJqCBr2BAxklbDqaz6Zj+RzMLP0z+Q3xsKNHZyeCPewJdLfD39UWd3tL3OyszvmhS1VVqur05JXXkl1aTU5pDamFVRzLLedoTjkphZUYTrcd7mVPbKArQ8PcGRTq3uIbMRmDJM5t0B1f7uFITjlbnxrRIS5n5ZTWMOj19dw1JJinx0doHY5JWZOUy10L4nhjck+u7+OndTgt5j+/JLBwVyo/3TOQmAAXrcMxWfvTS5j++U5CPO34ftaAdrG47nB2GTd/sQtVhQV39KWbT/sfLDCmwopa/m9JAqsSc4js5MjL13ant79pv4aq6hqYvy2FTzaepLZBz+2DgnhgZGibSKraEoNBZU9KEUsPZLEyIYeiyjp0CkT7OTM03IM+ga708HXC0cj/79V1eg5mlBCXWsyelCLiU4opr23AXKfQJ9CVEREejO7qZbIfmCRxbmMqahvo/d813NjPn+cndJzRt7sWxLEvrZjtT49q0yNoxqSqKld9sJXKugbWPTYM83a8eLK8pp6x727G3sqc3x4aIr8D55BRXMWkj7Zha2XG4nsHtqvNY07lV3DT3F1U1Dbw1e196WXiiZ+pWJOUy79/PkhZdQOPjQ3nzsFBbervRF55DW+uOsqP8Rm421vx1LguTO7t2yanHpmSE3kVLNqTxrID2eSU1WBjYcboSC+u6ObFkFCPVq9iVK83sDe1mA1H89l4NI8jOeUAdO3kyNU9O3FVj04Eutu1akwXIolzG/PbwWzu/3Yv38/qT/9gN63DaTUbjuZx2/w9fDSjF1f3lN3FAFYl5HDPwnjeuT6K69rgLoHNtf5ILrd/Gccjo8N4ZHT72y3zclTVNTD5kx1kFFex5L5B7XJKQ0ZxFTPm7KKosnGDn75BMv/1fMpr6vnv8iR+iMugaydH3p0WRYS3o9ZhXbID6SW8sCyRfWklRPk58+LEbkT7OWsdVptS26BndWIu3+xMZVdyEeY6heFdPJgQ5cPorl4mtX4ks6Sa1Qk5/HYom/jUYgC6+TgyMcqHSdGdNV8sLIlzG/PQd/vYeqKAPf83GrMO9Klbb1AZ9uYG/Fxs+W5Wf63D0ZzBoHLlB1uoa2hcNNeWRpEux0Pf7WNlQja/PTSEcC8HrcMxCaqqcv+3e1mVkMMXM/swooun1iG1mJzSGm6cu5PMkmrm3tKHwWHuWodkchIyS7n/272kF1Vx7/AQHh4V3i6u0BgMKkv2ZfLaqiPkl9cyLdaPJ8Z1wV3KFV5QYUUtX21P4ZtdaRRW1uHnasOMvgFMjfVtE/93WSXVrDiUzfKD2exPL0FRYFCIOzP6+XOlRptjNTdxbvuvvjasrsHAhiN5jO7q2aGSZgAzncL0vv7sOFXIqfyKiz+hnVuZkMORnHIeHh3WYZJmgOcnRGJvZc5Tiw+iN2jzId7UfLj+BCsO5fD0+Ih2nTQDeDtZs+juAQS62XH7V3tYdzhX65BMhqqqfL0jhes+3k5tvYFFdw/giSsi2kXSDI2bqkyO8WXD48O5e2gwi/dmMOKtjXy5LZkGvUHr8ExOelEVz/2awKDX1/PB+hP08ndhwe192fT4CO4dHtImkmYAH2cb7hwSzC/3D2LD48N5cGQYqUWVbD1RoHVoTXbREWdFUeYBVwN5qqp2P8fjCvA+cCVQBcxUVXXvxTqWEWfYeDSPmfP38MWtsYzq6qV1OK0ur7yGga+u57ZBgfzfVZFah6MZvUFl3HubUYHVjwztcB+iluzL4NFFB3hhQiQzBwVpHY6m/piuc12vzrx9fVSHWCwMUFJVxy3zdpOUVcYH03tpNvJkKspr6vn3z4dYfjCb4V08eOf6aFxNrGKGsZ3Iq+DFZYlsOV5AhLcDL07sRr8ONH3xfJKyyvhs80mWH8xGp8C1vToza2hIu5q+9UfVDq2ml7TEiPOXwLgLPD4eCDt9mwV80tTOO7rVibnYWZoxKLRjXp70dLBmTKQXP8VnUFOv1zoczSw/mMXxvAoeGR3W4ZJmgGuiOzMs3IM3Vh8lo7hK63A0czi7jMd+2E+UnzP/u65Hh0maAZxtLVl4Zz+i/Jx54Nu9LNmXoXVImknMKmXCh1tZmZDDk+O6MO/WPu0+aQYI9bRnwe19+fSmGMprGpj2+U4e+m4fOeeoNdzeqarKjpOF3DpvN1d+sIW1SbncPiiQLU+O5I0pUe0qaYbGTXRMaU72xVw0cVZVdTNQdIFDJgEL1EY7AWdFUTr2cEET6A0qa5JyGd7Fs13W6m2qG/sFUFxVz6qEHK1D0USD3sD7a4/TxcuBKzvoToqKovDKtY0Xs/5vSQJarbvQUlFlHXctiMPeypzPb47pkH8THK0tWHB7X/oHu/HYDwf4bnea1iG1KlVV+WZXKtd+vJ2aegPf3dWf+4aHdqiKE4qiMK67N2sfG8ZDo8JYlZjDyLc38snGk9Q1tP/pGwZDY33uaz/ezvQ5O0nMKuWJK7qw/elR/N9VkZovohONmrQ4UFGUQGD5eaZqLAdeU1V16+nv1wFPqar6j3kYiqLMonFUGjc3t5gHHnjg8qJvw7JKqvkhLp1x3b3b9Oroy6WqKl9uT8Heypypse23bvH5HM4uY3ViDlf37ESoZ8deHLcvrZhNx/K5ops3XTt1nNeE3qDy894McspqmBrj1+HfHBv0BpYfzCalsJJh4R4dolRdXYOBdUdyOZpTToCbHVd088LWsu2MwLWU0qp6Nh3P51R+BS62lgzr4kGgm+mUMTOWBoOBI9nlxKcWU1xVh5ONBTEBLkR2cuxQa1608uKLLxq/qoaxEuczdfQ5zq/8lsRX21OJ/8/oDl8E/tNNJ3lt5RHWPDqUsA5UWaFBb2D0O5uwtTRn+YODO9TI0rnoDSpTPt1OSkElax8bhlsbWexyuZ795RALd6bx7rQoru3V/ssQNkVtg56HvtvH6sRcnhzXhfuGh2odUos5llvOvQvjSS6o5LEx4R1ulLkpNhzN46VlSSQXVDIm0ounx0cQYqKbaTRHWU093+5KY/62ZHLLaunm48i9w0MY371Th5y2pxUtqmpkAmcOFfqevk+ch6qqrE7MZWCoW4dPmgGmxvhiYabwza6OdWl2yb5MUgqreHRMuLxR0lhp5fXJPamobeCl5Ulah9MqFu5MZeHONO4eFixJ8xmszM34aEZvJkb58Maqo7y5+ki7nMLz894MJn20jdLqBhbe2Y8HRobJ34JzGNHFk1WPDOGpcRFsO1HAmHc28eRPB8gsqdY6tEuSVVLNy8uTGPjqel5beYRQT3u+vqMvyx8czNU9fSRpNnHGuBa0FHhAUZTvgX5Aqaqq2UZot906klNO2umanALc7K0Y170TP+/N4OnxER1ifme93sAH64/To7MTo7u275JjzRHu5cD9I0J5b+1xJkX7MDKi/Vab2XmqkBeWJjKiiwdPXiFbz5/NwkzHu9OisbU0Y/aGk+SU1vLqdT3aRTm2mno9Ly5L5Lvd6fQLcuXD6b3wdOzYU3QuxsrcjHuHhzA11pePN5xk4c5UftmXxY39/bl3eEib2FkzIbOUL7Yms+xAFipwdc9O3DUkmO6dZdv5tuSiibOiKN8BwwF3RVEygOcBCwBVVT8FVtBYiu4EjeXobmupYNuL1Yk5KAqM7oAl6M5nRl9/lh3IYvnBbKbEtP+Rt8XxGaQXVfPSzO4dqnpCU9w3PJQVh7J55ucEVj/i2urbxbaG9KIq7l0Yj7+bLe9P7yUjTOdhplN49boeeDtZ897a4+SW1fDJTb3b9JW6lIJK7vtmL0nZZdw3PITHxoTLPNZmcLe34rkJkdwxJIgP1x1nwY5UvtmZxnW9O3PX0GCTm8JRU6/nt4PZLNyVyr60Euwszbh1YCC3Dw6is7ON1uGJSyA7B2rgyve3YGtpxk/3DtQ6FJOhqiqj3tmEs40FP983SOtwWlRdg4ERb23Ew8GKJfcNlMT5HA5mlHDdx9u5qmcn3r+hl9bhGFVFbQNTPtlOVkk1v9w/iGATe6M3VT/EpfPMz4cI9bRn/m196OTU9pKOX/dn8uySBHQ6hXenRbXrKyqtJaWgkjlbTvFTfAa1DQZGd/Xi5gEBDAl112zai6qqHM4u5+e9Gfy0N4OSqnqCPey4sV8AU2J8cbJpux/82qPmznGWZbutLL2oiqTsMv7vyq5ah2JSFEVhRl9/Xv7tMIezy9p1VYUf4tLJLKnucLV6m6OnrzMPjwrj7TXHGNXVi4lRPlqHZBQGg8oj3+/neF4F82f2kaS5Ga6P9cPb0Zr7vtnLhA+38slNMfQJdNU6rCYpq6nnP78k8Ov+LGIDXHjvhmh8XWy1DqtdCHS345Vre/DomHAWbE/h652prD2cS2dnG66P9WNCVKdWe52lFFSy/GAWv+5vrM1vrlO4ops3N/b3Z0Cwm/y9bydkxLmVzduazEvLk9j4+HAC3dtfWZ3LUVJVR9//rWNarB//veYfBVzahZp6PSPe2oiPsw0/3TNA/pBeQIPewNTPdnAyr4LfHx3WLsq0vb7qCJ9sPCm7JF6G47nlzPo6nvSiKp6f2I2b+vmb9Otod3IRjy7aT05ZDQ+PCuO+4SEyNaMF1TboWZOUy6I96Ww53riNc7iXPeO6eTM03IOevs5GmydfVdfA7uQiNh7NZ+PRPFIKGzdw6hvoysRoH67s0alDbF7T1jV3xFkS51Z2w+c7KK6sZ/WjQ7UOxSQ9tmg/vyflsuuZUW1qJ6Gm+mp7Cs8vTeSbO/t12B0jmyOloJLx728hNtCFr27r26YrDvyxtfiMfv68co3Mbb8cpdX1PLpoP+uP5HFtr868NKmbyc17rq7T8+7aY8zdcgpfF1veuyGa3h2gJrUpyS6tZlVCDqsSctiTUoRBBWsLHb39Xejh60S4pwPhXg50drHB2cbivH9fGvQGsktrSCmsJKWgkqTscvalFXMstxyDClbmOgaEuDE83IMx3bxl7nIbI1M1TFhxZR27k4u4f0T7rUl6uWb08+fnfZksO5DFDX39tQ7HqGrq9czecIJ+Qa4MDHHTOpw2IdDdjmev7sr/LUlg/vYU7hjcNkdp96YV89TiQ/QPduXFid0kab5MTjYWzL0llg/Xn+D9dceISy3ivWnRxASYxtSNrccLeGbJIdKKqrihjx/PXh2JfTscCDB1nZxsuG1QELcNCqK4so5dyUXsSi5kd3IR87emUKf/azdCc52Cq50ltpZm6BQFnU6hpl5PaVU95bUNf2vX0dqcKD9nxkZ6ERPoSr8g1w5RDUo0kldyK1p3JA+DCmMjvbUOxWTFBLgQ7mXPt7vT2l3ivHBnKnnltXwwvZckTs0wo68/G47k89rKw/T2d25zO8lllVQza0E83o7WfHJjDBZymd4odDqFh0eHMTjMjYe/38/1n+1k1tBgHhoZho2lNklMXlkNr606ws97Mwlyt+P7Wf3pHywfkk2Bi50l47p7M6574/tvg95ASmEVx3PLySmroaCiloLyOmoa9OgNKgZVxdrcDCdbC5xtLPF0tCLQzY5gDzs8Hazkb3gHJolzK/o9MYdOTtZ079x+F75drj8WCb6wLImEzNJ2U9+yqq6BTzedZFCom7yRNpOiKLw9NYqrPtzCA9/u47eHBuNs2zbmDZbV1HP7l3uordfz3V39cJH5jkYXE+DKioeH8N9lSXyy8SRL92fx4sRujI5svYoVVXUNzNmczGebT1KvN3D/iBAeHBkmo5AmzNxMR6inPaGeskBXNI8MfbSS6jo9m4/nMzbSSz6pXsS1vX2xttC1q50EF+xIpaCijsfGhGsdSpvkZGvB7Bm9ySuv4V8/HMBgMP1d5Gob9Ny9IJ4TeRV8fFPvDrWdfGtztLbgzalRLJrVH1tLM+5cEMet83ZzMKOkRfutqG1g7pZTDH9zI++uPcbwLh6seXQYT1zRMTZyEqIjksS5lWw5nk9NvYGx3WSaxsU42VgwoacPv+7PpLSqXutwLltFbQOfbTrJsHAPk5mD2RZF+Tnz7FWRrDuSxyebTmodzgUZDCr/+uEAO04V8ubUngwJ89A6pA6hX7Abvz00hGeujOBARgkTP9rGnV/tYfuJAqNu2Z1VUs3bvx9l0Gvrefm3wwR72LH43gF8fGOMVEsSop2TqRqt5PekXBytzekbJIlTU9w2KIgf4zP4dndam9+a/KvtKRRX1fOojDZftlsGBBCfWsxbvx8l3MuBMa14Ob45/rfiMMsPZvP0+Aiu7dX+d8I0JZbmOmYNDWF6X3++3JbCF9uSWXs4jxAPO67r7csV3bwv6fJ8XnkNm47ms/RAFltPFKCqcEU3L+4ZFtLm5t0LIS6dlKNrBQ16A31eWcvwLp68Oy1a63DajJvm7uJYbjlbnxpptLqbra2spp4hr28gNsCFL2b20TqcdqGmXs+0z3ZwPK+CxfcONLnNcmZvOMGbq48yc2Agz0+IlKlZGjt7y2OAQDdbevu7EO3vTKCbHZ2crHGxs0R3+lwVVdaRV15DSkEVCVmlHEgvITGrDIDOzjZMifFlcm9f/N1kExMh2jopR2eC4lKLKa6qZ6yJjo6ZqruGBnPrvN0sPZDFlJi2OWo3b2tyY81ZGW02GmsLMz6/JZZJH23jzq/iWHzvQJPZHOWTjSd5c/VRron24T9XS9JsCqwtzJgc48vkGF+ySqpZeziXzcfy2Xy8gJ/3ZV70+Q7W5nT3ceKJK7owvIsHkZ0c5bwK0YFJ4twKfk/MxdJcx9BwmefYHEPD3Oni5cDcLaeY3Ltzm3uzKqyoZe6WZK7o5tVuqoOYCi9Ha+beGssNn+/k5i928cPdAzSvWDFn8yleX3WECVE+vDU1CrM2vFlLe+XjbMMtAwK5ZUAgqqqSXVpDRnE12aXVlFTV/zkP2sXOEg97K3xdbPFztWlzf3uEEC1HEucWpqoqvyflMCTUvV3uhNeSFEXhrqHBPP7jAbYcL2hzHzw+XH+C6no9T1wRoXUo7VL3zk7MuSWWW+fvZub83XxzV39NNplQVZVPNp3kjVVHuapHJ969Pkq2VG4DFEXBx9kGH9nlTQjRDJLJtbDD2eVkFFfz0Miw5j+5Ig+SN0NmPBQca/y+vgoaasHSDqwcwMEbXIPBJQg8u4J3j8bH2omJUT68ufoIc7acalOJc1phFd/sSuX6WD+pE9qCBoS4MXtGb+5ZGM8tX+xi/sy+ONm23tbLBoPKy78dZt62ZCZE+fCOJM1CCNGuSeLcwn5PykGnwKiunk17gr4eEn+BvV9BypbG+yxswS0UHH0avza3grpKqC2D/KNwbDXo6xqPVXTg0RV8ekHn3uDbBzwjwaxtnmpLcx0zBwbx+qojHMwooaevs9YhNclbvx/FTKfwyOhL+MAkmmVMpBezZ/Tioe/2c8OcnSy4vS8eDlYt3m91nZ4nFx9k2YEsZg4M5LmrI9HJ9AwhhGjX2mY21Yb8nphLbIArbvYXeSNXVUhcAuv/C0WnwCUQhj8DYWOgUxToLlBM36CH0gzITYSsfZC1F46ugP0LGx+3sPsrifbtA359wc7daD9jS7upvz+fbjrJB+tOMPfWJi981UxCZilLD2Rx/4gQvBxNY9Faezeueye+mGnOrAXxTPl0O3NuiSW8BTccSS+q4u6v4zmcU8ZT4yK4Z1iwzIMVQogOQBLnFpReVEVSdhnPXtX1wgeW58Kyh+DYKvDsBjd8B+HjQNfES746M3AJaLxFXNl4n6pCcQpkxEHGbsjYA9s/AEND4+MuQX8l0b6x4NUdzFrvEndzOFhbcMfgIN5Zc6xNbMP92sojuNhacPewtl1/uq0ZEubBwjv7cffX8VwzextvTY3iyh6djN7P6sQcnlp8EL1B5YtbYxkZIdVyhBCio5DEuQWtScoFuPAmDWm74PsZUFcBV7wK/e6+8OhyUykKuAY13npObbyvrgqy9zcm0em7IXkTHPqh8TFzG/DqBh5dwD0M3MPBvQs4+4O5ttUKAG4dGMicLaf4aP0JPr05RutwzmvzsXy2nijgP1dH4mhtmh9E2rOYABeWPziYe7+J575v9nJjP3+eHh+BgxHORXFlHS8sS+TX/VlEdnJk9o29CZJd4oQQokORDVBa0LTPdlBaXc+qR4ae+4BDP8Ev94KTH0z/rjFpbU2qCqXpjUl0xp7GqR4Fx6Ei5+/H2XmAQ6fGOdYOncDWDawdwdoJrBwbvza3Bp1F46i1mcVfXwOohsbpJKr+r39VAxgMp+9r+Oumb/j792fc1iZmsvVoDvcODcDLzvz0/Xow1J9xnL5xnviZ35/5eAv+vhtUle0nCzGoKoNC3TFrzqX7ix57gccv57kt3rc29AaVIznlnMyvwMbCjK6dHOnsbHNJ4eoNKqmFVRzLLadebyDcy4EwL/s/N8sQQghxmfz6NQ4cakA2QDER+eW17Ekp4oHzVdM48D0suQcCBsG0r8FWg624FaVxRNnZH3pM+ev+mtLGBLrgGJSkQ1kmlGdDaWZjgl1d3Jj4trLRwGgLYMfZjyink3Xz0zezxsT9b9+bNx6jtFzFg+LKWtzqavF1scGspPKvBy6arF/k8Qs+/3Ke28J9a8gM6KZAiIuBgopaatMNZGbrcLSxwN7KnKas4WswqJTXNFBWXY9qUOlpaYabkyVWaj7kXPz5QgghmsjB+NPqWookzi3k96QcDCpcda45lgmLG0eag4bCjEVgYWJ1RK2dGuc9+57nA5iqNk4tqSlrTLJryxpL5BnqG0eM9XV/fQ2NiauigGJ2+us//tU13i6W9J7x+JytqXywMYWv7hxI70CP0/drX/4rv7yWkW9tJCbIhfkz+5jsSGxHYw34GFSWHcxi9oYTHMutwNbSjIEh7vQPdiXE0x5PByuszM0or6knt6yGhMwydiUXEpdajKrCoFA37h4awpAwd1kAKIQQHZwkzi1k5aEcgj3sCPc6q4Zv2s7GkWa//jD9e9NLmptCURprSFs5gFPnVu36xpGuzIkv5ZU1qfx0j4/JJDKvrzpCTYOe52SbZZOj0ylMiu7MxCgfdicXsfxgNhuO5rH2cO45jzfTKUR4O/DwqDCu7tmJUM+Wq84hhBCibZHEuQUUVdax41Qh9w4L+XsSVZzSuBDQyQ9u+AYsbTWLsa2ytTTnkdHhPLPkEGuSchnbzVvrkNibVsxP8RncPSyYYA/Z7MRUKYpCv2A3+gW7AY2v0xN5FRRV1lHboMfB2hx3eyvCPB2wsTTCAl0hhBDtjiTOLeD3xBz0BpXxPc5I6hpq4YdbGxeozfhBmznN7cT1sb58sfUUr686wvAunliaazdVo67BwDM/H8LL0YoHL2V3SKEZVztL+gbJ61AIIUTTaT85tB1akZBDgJstkZ0c/7pz7QuNpeAmfQzuoVqF1i6Ym+n4v6u6cjK/knnbkjWN5ZONJzmSU84r1/TA3ko+hwohhBDtmSTORlZSVcf2EwWM797pr2kax9fAzo+h7yzoerW2AbYTIyO8GBPpxftrj5NRXKVJDMdyy/low3EmRPkw+kK1uoUQQgjRLkjibGRrknJpMKhc+cc0jZoyWPYIeETAmP9qGlt78/yESABeXJbU6n3X6w088dNBHKwteOF0HEIIIYRo3yRxNrKVCTl0drahxx/bQq97sbEO8sSPwMJa2+DaGV8XWx4aFcaapFxWJ7ZuYd331h7jQHoJL03qhpu9Vav2LYQQQghtNClxVhRlnKIoRxVFOaEoytPneHymoij5iqLsP3270/ihmr6ymnq2HM/nyh7ejdM0UrfDnrnQ/17w66N1eO3SHYOD6NrJkf9bcoiCitpW6XPbiQI+3niSabF+XN3Tp1X6FEIIIYT2Lpo4K4piBswGxgORwHRFUc51bXqRqqrRp29zjRxnm7A2KZd6vcr4Hp0at31e9jA4B8DIZ7UOrd2yNNfx3rRoyqobeHrxIVp6C/mCiloeWbSfYHc7np8oUzSEEEKIjqQpI859gROqqp5SVbUO+B6Y1LJhtU3LDmTR2dmGaF9n2D2nccvq8W+ApZ3WobVrXbwdeHJcF9YezuXL7Skt1k9dg4H7Fu6lrLqej2b0xtZSqmgIIYQQHUlTEufOQPoZ32ecvu9skxVFOagoyk+KovidqyFFUWYpihKnKEpcfn7+JYRrugoratl8vIAJUT7oqgth42sQMgrCr9A6tA7h9kFBjO7qxcu/HWbnqUKjt6+qKv+35BC7U4p4Y0pPup5ZalAIIYQQHYKxFgcuAwJVVe0JrAG+OtdBqqp+rqpqrKqqsR4eHkbq2jSsOJSN3qByTS8fWP8y1FXAuFcbt6cWLU6nU3hnWhQBbrbc/81eUgoqjdr+u2uP82N8Bg+NDGVSdOtuMy6EEEII09CUxDkTOHME2ff0fX9SVbVQVdU/VmbNBWKME17b8cv+LLp4ORChpMPerxprNnt00TqsDsXR2oI5t8RiUFVunLuLnNIao7T76aaTfLDuOFNjfHlkdLhR2hRCCCFE29OUxHkPEKYoSpCiKJbADcDSMw9QFKXTGd9OBA4bL0TTl15URXxqMZN6+cD6V8DSAYY9qXVYHVKIhz1f3d6X0up6ZszdSXrRpW+Ooqoqb64+wmsrjzAhyofXJvdEp5MrCEIIIURHddHEWVXVBuABYDWNCfEPqqomKorykqIoE08f9pCiKImKohwAHgJmtlTApmjpgSwAJnvlwdHfYOADYOuqcVQdV09fZ+bf1oeC8lqu/Xg7BzNKmt1GRW0DD3+/n9kbTjK9rx/vXh+FmSTNQgghRIemtHT5rvOJjY1V4+LiNOnbmFRVZey7m3G2teBHu7cgax88fACsZfGY1o7nljNz/h7yymt4eFQY9wwLwdzs4hdZdp0q5ImfDpJRXMW/xnbhvuEhf22fLoQQQoh2Q1GUeFVVY5t6vOwceJkOZ5dzPK+COwJy4eQ6GPyIJM0mIszLgWUPDuaKbt689fsxxr67mR/2pFNTr//HsQaDyu7kIm6bv5tpn+/EoKosunsA948IlaRZCCGEEABIIdrL9Mv+TMx1MCrrc7DzhD53aR2SOIOrnSUfzejNxKgc3lt7nCcXH+S5pQn09nfB39UWM51CblktBzJKyC+vxcnGgifHdWHmwECp0yyEEEKIv5HM4DLU6w38vDeDewMysUjfDuNeB0tbrcMS5zC2mzdjIr3YcbKQ1Yk57M8oZd2RPPQGFTc7SwaFuDGsiwdjI72xs5KXhRBCCCH+STKEy7D+SB4FFbXc4fQNOHaGmJlahyQuQFEUBoa6MzDUXetQhBBCCNEGyRzny/DDnnSusUvEuXA/DH0CLKy1DkkIIYQQQrQQGXG+RLllNWw4mst2l8VgFQi9btI6JCGEEEII0YIkcb5EP8VnMEbZg3fVURj7KZhZaB2SEEIIIYRoQZI4XwJVVVm8J4UvbZeAczj0vF7rkIQQQgghRAuTxPkSbD1RQPeSDfhbpsLweaAz0zokIYQQQgjRwmRx4CVYsPUk/7JcjMEzEiKv1TocIYQQQgjRCmTEuZlSCytxPrGYAItsGPk26OSzhxBCCCFERyBZXzN9s+04D5v/TL1XNHS5UutwhBBCCCFEK5ER52aorG1Aif8SX6UAxs4BRdE6JCGEEEII0UpkxLkZft19jDtZTLl3fwgeoXU4QgghhBCiFcmIcxPV6w2Ub/oID6UM9cqXZLRZCCGEEKKDkRHnJvptVxLT65eQ7zMSxb+f1uEIIYQQQohWJiPOTaA3qFRteAd7pRqHiS9pHY4QQgghhNCAjDg3wfodu5hct5Qsvwko3j20DkcIIYQQQmhAEueLqG3QY7H+eVRFR6fJr2kdjhBCCCGE0IgkzhexfsVPDNfvJLvn/Zg5d9Y6HCGEEEIIoRFJnC+gtLKa0L3/Jc/Mi8AJT2odjhBCCCGE0JAkzhew4+vnCSOd6hH/RbGw0TocIYQQQgihIUmcz+PQ/l2MyP6CJJcRBAyepnU4QgghhBBCY5I4n0N1dTUWS++nWrEh4OZPtA5HCCGEEEKYAEmczyF+zv1EGI6TNfgV7Fw7aR2OEEIIIYQwAZI4n2Xnko8ZXLSY+E43EDn6Vq3DEUIIIYQQJkIS5zMc3LSE3vv/w2HLHkTf/qHW4QghhBBCCBPSpMRZUZRxiqIcVRTlhKIoT5/jcStFURadfnyXoiiBRo+0he1b+x1h62eRYe5L53t+xszCUuuQhBBCCCGECblo4qwoihkwGxgPRALTFUWJPOuwO4BiVVVDgXeB140daEupralix5yH6bnlXjIsAnCa9RuOrp5ahyWEEEIIIUyMeROO6QucUFX1FICiKN8Dk4CkM46ZBLxw+uufgI8URVFUVVWNGKtRnDiwlZqKYhqqK6hO3kVo5i8MoJg9LuPpfufn2Ng7ah2iEEIIIYQwQU1JnDsD6Wd8nwH0O98xqqo2KIpSCrgBBcYI0pisf7mTUDUbAL2qkGTdi9yhH9Jn0ASNIxNCCCGEEKasKYmz0SiKMguYBeDv79+aXf+pYvyHJOkbMLeyoVNIT3o4uWoShxBCCCGEaFuakjhnAn5nfO97+r5zHZOhKIo54AQUnt2QqqqfA58DxMbGajKNI6LvGC26FUIIIYQQbVxTqmrsAcIURQlSFMUSuAFYetYxS4E/ih5PAdab4vxmIYQQQgghLtVFR5xPz1l+AFgNmAHzVFVNVBTlJSBOVdWlwBfA14qinACKaEyuhRBCCCGEaDeaNMdZVdUVwIqz7nvujK9rgKnGDU0IIYQQQgjTITsHCiGEEEII0QSKVlORFUXJB1I16RzcMcFSeULOiwmTc2Oa5LyYJjkvpkvOjWnS8rwEqKrq0dSDNUuctaQoSpyqqrFaxyH+Ts6L6ZJzY5rkvJgmOS+mS86NaWpL50WmagghhBBCCNEEkjgLIYQQQgjRBB01cf5c6wDEOcl5MV1ybkyTnBfTJOfFdMm5MU1t5rx0yDnOQgghhBBCNFdHHXEWQgghhBCiWSRxFkIIIYQQognadeKsKMo4RVGOKopyQlGUp8/xuJWiKItOP75LUZRADcLscJpwXmYqipKvKMr+07c7tYizo1EUZZ6iKHmKoiSc53FFUZQPTp+3g4qi9G7tGDuiJpyX4YqilJ7xennuXMcJ41IUxU9RlA2KoiQpipKoKMrD5zhGXjOtrInnRV4zGlAUxVpRlN2Kohw4fW5ePMcxJp+XtdvEWVEUM2A2MB6IBKYrihJ51mF3AMWqqoYC7wKvt26UHU8TzwvAIlVVo0/f5rZqkB3Xl8C4Czw+Hgg7fZsFfNIKMYmLnxeALWe8Xl5qhZgENAD/UlU1EugP3H+Ov2Xymml9TTkvIK8ZLdQCI1VVjQKigXGKovQ/6xiTz8vabeIM9AVOqKp6SlXVOuB7YNJZx0wCvjr99U/AKEVRlFaMsSNqynkRGlBVdTNQdIFDJgEL1EY7AWdFUTq1TnQdVxPOi9CAqqrZqqruPf11OXAY6HzWYfKaaWVNPC9CA6dfBxWnv7U4fTu7QoXJ52XtOXHuDKSf8X0G/3zx/HmMqqoNQCng1irRdVxNOS8Ak09f2vxJURS/1glNXERTz51ofQNOX/5cqShKN62D6WhOX07uBew66yF5zWjoAucF5DWjCUVRzBRF2Q/kAWtUVT3va8ZU87L2nDiLtmsZEKiqak9gDX99+hRC/NNeIOD05c8PgV+0DadjURTFHlgMPKKqapnW8YhGFzkv8prRiKqqelVVowFfoK+iKN01DqnZ2nPinAmcOVLpe/q+cx6jKIo54AQUtkp0HddFz4uqqoWqqtae/nYuENNKsYkLa8prSrQyVVXL/rj8qarqCsBCURR3jcPqEBRFsaAxOftGVdWfz3GIvGY0cLHzIq8Z7amqWgJs4J/rN0w+L2vPifMeIExRlCBFUSyBG4ClZx2zFLj19NdTgPWq7AjT0i56Xs6aAziRxjlqQntLgVtOVwroD5SqqpqtdVAdnaIo3n/MAVQUpS+Nf9dN6o2mPTr9f/4FcFhV1XfOc5i8ZlpZU86LvGa0oSiKh6Iozqe/tgHGAEfOOszk8zJzrQNoKaqqNiiK8gCwGjAD5qmqmqgoyktAnKqqS2l8cX2tKMoJGhff3KBdxB1DE8/LQ4qiTKRxdXQRMFOzgDsQRVG+A4YD7oqiZADP07h4A1VVPwVWAFcCJ4Aq4DZtIu1YmnBepgD3KorSAFQDN5jaG007NQi4GTh0es4mwDOAP8hrRkNNOS/ymtFGJ+Cr09W1dMAPqqoub2t5mWy5LYQQQgghRBO056kaQgghhBBCGI0kzkIIIYQQQjSBJM5CCCGEEEI0gSTOQgghhBBCNIEkzkIIIYQQQjSBJM5CCCGEEEI0gSTOQgghhBBCNIEkzkIIIYQQQjSBJM5CCCGEEEI0gSTOQgghhBBCNIEkzkIIIYQQQjSBuVYdu7u7q4GBgVp1L4QQQgghOrj4+PgCVVU9mnq8ZolzYGAgcXFxWnUvhBBCCCE6OEVRUptzvEzVEEIIIYQQogkkcRZCCCGEEKIJJHEWQgghhBCiCSRxbmVVdQ3UNui1DkMIIYQQQjSTZosDO5ITeRV8sfUUaw/nkV9eC0CAmy3junlzx5AgPB2sNY5QCCGEEEJcjCTOLahBb+DtNcf4fPMprMx1jOrqRYS3Aw16lf3pxczdmsyCHan8+8oIbu4fgKIoWocshBBCCCHOQxLnFlJV18CsBfFsPVHAtFg/nhzXBTd7q78dk1JQyQvLEnnu10T2p5Xw+pSeWJjJ7BkhhBBCCFMkiXMLqKnXc9v8PexJKeKNKT25PtbvnMcFutsx79Y+fLThBO+sOUZVnZ7ZN/bGTCcjz0IIIYQQpkaGN41MVVWeWnyQXclFvDst+rxJ8x90OoWHRoXx7FVdWZWYw4vLElspUiGEEEII0Rwy4mxkC3el8ev+LB4fG86k6M5Nft6dQ4LJK6/l882n6OXvzLW9fFswSiGEEEII0Vwy4mxEKQWV/O+3wwwN9+D+EaHNfv6TV3Shb6Arzy5JILmgsgUiFEIIIYQQl0oSZyPRG1Qe//EAFmYKb0zueUkVMszNdLx3QzQW5joe+X4feoPaApEKIYQQQohLIYmzkSzem0FcajEvTOyGt9Ol12X2cbbhpUndOZBRyje7Uo0YoRBCCCGEuBySOBtBZW0Db60+Sm9/Z67t1fR5zeczoWcnBoe68+bqo+SV1xghQiGEEEIIcbkkcTaCzzadJK+8lmevjjTKJiaKovDSpG7U1ht4feVRI0QohBBCCCEulyTOl6mwopY5W5KZEOVDb38Xo7Ub7GHPzEGB/Lwvg6M55UZrVwghhBBCXBpJnC/TF1uTqWnQ88joMKO3fd/wEOytzHlztYw6CyGEEEJoTRLny1BaVc+CHalc2aMTIR72Rm/f2daSu4cGs/ZwLvGpxUZvXwghhBBCNJ0kzpfhqx0pVNQ2cP/w5tdsbqrbBwfhbm/JB+uOt1gfQgghhBDi4iRxvkQ19Xq+2p7CyAhPIn0cW6wfW0tzbhsUxKZj+SRmlbZYP0IIIYQQ4sIkcb5EKw5lU1hZx+2Dglq8r5v6B2BvZc4nG0+2eF9CCCGEEOLcJHG+RF/tSCXYw45BoW4t3peTjQU39Q9gxaFsUmQrbiGEEEIITUjifAn2p5dwIL2EWwcEGqVuc1PcPjgQM53Cl9tTWqU/IYQQQgjxd5I4X4KFO1OxszTjut6Xv0tgU3k6WHNlj04sjs+gsrah1foVQgghhBCNJHFupsraBlYcymZitA8O1hat2vctAwIpr21gyb7MVu1XCCGEEEJI4txsKxNyqKrTM7m3b6v33dvfme6dHVmwIwVVVVu9fyGEEEKIjkwS52b6KT6dQDdbYgKMt712UymKwi0DAjmWW8HOU0Wt3r8QQgghREcmiXMzpBdVsfNUEZN7+7baosCzTYzywdnWggU7UjTpXwghhBCio5LEuRl+3ts4t/jaVlwUeDZrCzOm9PZlTVIuBRW1msUhhBBCCNHRSOLcRKqqsnhvBgND3PB1sdU0luv7+NFgUPlFFgkKIYQQQrQaSZybaF96CWlFVVzbS7vR5j+EezkQ5efMT/EZskhQCCGEEKKVSOLcRCsOZmNhpjC2m7fWoQAwNcaXIznlHMos1ToUIYQQQogOwVzrANoCVVVZmZDDkDAPnGxO127OiIPkzaAzg9DR4NWtVWOaEOXDf5cn8WNcBj19nVu1b3Fp8sprWH84j/3pJWSV1mAwqHg4WNG1kwMjungS5uWgdYhCCCGEuABJnJtgf3oJmSXVPDomHKqLYelDcHjpXweseQ66XAkT3gd7z1aJycnGgvHdvfl1fyb/d1VXrC3MWqVf0XyphZW8ufooKxNy0BtUXGwt8He1RadTSE6uZMm+TP634gh9g1y5Z1gwIyO8tA5ZCCGEEOcgiXMTrDh0eppGkCUsmAR5h2Hks9DnLtDXwb6vYePrMGcUzFwOLgGtEtfUWD9+2Z/F2sO5XN3Tp1X6FE3XoDfwwbrjfLrpFOZmCncMDmJyb1/Cvez/Vs4wp7SGZQey+GpHCrd/Gcforp68OKk7nZ1tNIxeCCGEEGdTjLm4TFGUFKAc0AMNqqrGnu/Y2NhYNS4uzmh9txRVVRn8+gbCPe2Yb/UWnNoI076B8LF/PzBrHyy4BqwcYdYGsHNv8dj0BpWBr60jyteZz28573+10EB+eS0PfbePHacKubZXZ54eH4GXo/UFn1OvNzB/WzLvrjmOlYWOD6f3YkiYRytFLIQQQnQ8iqLEXyhfPVtLLA4coapqdHOCMGUHM0rJLKnmQcfNcPx3GPvyP5NmAJ9ecPPPUJkHP90G+oYWj81Mp3B1Tx82Hs2ntKq+xfsTTZNZUs3UT7ezL72Yt6ZG8e606IsmzQAWZjpmDQ1h5cND8HSw4tZ5u/laNroRQgghTIZU1biIFQnZuOsq6HX8AwgeDn1nnf/gzjFw1TuNiwZ3zm6V+CZF+1CnN7AqMbtV+hMXll5UxfWf7qCwso5v7+rPlBjfZrcR6G7HkvsGMTLCk//8msiczadaIFIhhBBCNJexE2cV+F1RlHhFUf6RYSqKMktRlDhFUeLy8/ON3HXLWJuUy8uuK1HqKmDca3CxrbajZ0DE1bDhf1B4ssXj69HZiSB3O37dn9XifYkLK6mq49b5u6mobeDbO/vT29/lktuyszLnk5tiuKpnJ15ZcZh5W5ONGKkQQgghLoWxE+fBqqr2BsYD9yuKMvTMB1VV/VxV1VhVVWM9PEx/7mZyQSVl+RmMqVwOvW4Cz64Xf5KiwJVvgpklLHsYWniDEkVRmBDlw45TheSV1bRoX+L8ahv03P11PBlF1Xx+cww9fJ0uu00LMx3vT4tmXDdv/vtbEisOyVUFIYQQQktGTZxVVc08/W8esAToa8z2W9u6w7ncav47OrUBBj/a9Cc6+sDoFyBly9/L1rWQiVE+qCosOyiJlVZeXXGEXclFvDm1J/2C3YzWrrmZjvduiCbG34VHFu1nX1qx0doWQgghRPMYLXFWFMVOURSHP74GxgIJxmpfC1sSU7nVYh1K1wngGty8J8fMBI+usPYF0Lfswr1QT3u6+TiydH9mi/Yjzm1VQjZfbk/htkGBTIo2/pbs1hZmzLklFk8HK+77Zi8FFbVG70MIIYQQF2fMEWcvYKuiKAeA3cBvqqquMmL7raq0qh7vjBU4qBXQ/77mN6AzgzEvQdEpiP/S6PGdbVK0DwcySkkpqGzxvsRfskureeKng/T0deLf45swlecSudhZ8ulNMRRV1vHQd/vQG1p2CpAQQggh/sloibOqqqdUVY06feumquorxmpbCxuP5TFVt5EapxDw739pjYSNgcAhsPE1qGvZhPaPDVB+k3mwrUZVVZ5dkkC93sAHN/TC0rxli9R07+zEf6/pzvaThczZIpU2hBBCiNYm5ejO49D+PcTqjmHZZ+bFK2mcj6LAqOegqgDi5hs1vrP5ONvQy99ZFpC1omUHs1l3JI/Hx3Yh0N2uVfqcGuPL+O7evP37UZKyylqlTyGEEEI0ksT5HOr1BjxTfkGPGbroGy6vMb++jfWft70PdVVGie98ruzeicSsMtIKW7YfAUWVdbywNJEoP2duGxTUav0qisIr1/bA2daSRxftp6Ze32p9CyGEEB2dJM7nsD+tmDGG7RR79gN7z8tvcNhTjTsK7v3q8tu6gHHdvQFYmSCjzi3t1RWHKa+p543JPTHTXeIViUvkamfJG1N6cjS3nPfWHm/VvoUQQoiOTBLnc0jat50gXS62vaYYp8GAgY1znbe+B/UtV2vZz9WWHp2dWJGQ02J9CEjILOWnvRncNiiILt4OmsQwoosnU2N8mbvlFEdyZMqGEEII0RokcT4H2+NL0aPDtuc1xmt02JNQkQP7vjZem+cwvoc3B9JLyCypbtF+OipVVXlpeRIutpY8MDJU01ieubIrjjYW/PvnQxikyoYQQgjR4iRxPktRRS19qjaR4dwH7Iy3kQWBQ8CvH2z7oEXrOo/v3gmAVTLq3CJWJ+awO7mIx8aE42htoWksLnaWPHtVV/allfDN7jRNYxHNV1nbQEpBJafyK8gsqaZeb9A6JCGEEBdhrnUApuZA3BZGKLmkdWvGToFNoSgw5F/w7fVw6EeInmHc9k8LcrcjwtuBVQnZ3DG49RatdQR1DQZeXXmEcC97bujjp3U4AFzbqzOL92bwxqojjO/ujbu9ldYhifMoqqxjZUI2m4/lsy+thLzyv29kY65TCHCzpW+QG8PCPRgR4YGVuZlG0QohhDgXSZzPUpO4AoDO/a4zfuNhY8GrB2x5B3pOa9wkpQWM796J99YdI6+sBk9H6xbpoyP6MT6d1MIq5s/sg7mZaVysURSFFyd244r3tvDOmmP879oeWockzpKUVcanm06y4lA2DQYVf1dbBoe6E+blgIeDFRZmClV1ejKKqziaU87yA1l8tzsNF1sLpsT4cteQYHkdCyGEiZDE+QyqqtK5YCspVhEEOnoZvwNFgSGPwU+3weFl0O0a4/cBXNnDm3fXHmN1Yg43DwhskT46mpp6PR+tP0Fvf2eGd/HQOpy/CfV04Ob+ASzYkcLN/QPo2slR65AEkFdWw6srj7BkXyZ2lmbMHBjIdb196drJAeUCteHr9QZ2nCxkUVw687al8NWOVG4dEMDDo8Oxt5I/2UIIoSXTGDYzEceSU+luOEal/4iW6yRyEriFwpa3QW2ZBV1hXg6EeNix4pDMczaWRXvSyS6t4V9ju1ww6dHKI6PDcLSx4L/Lk1Bb6PdKNI2qqiyOz2Dk25v47WA29w0PYfvTo3j26kgifRwv+vtjYaZjaLgHs2f0ZsO/hjMxyoe5W5MZ884mWbsghBAak8T5DOlxy9EpKt6xE1uuE50ZDH4Ucg7CibUt1s2VPTqxK7mQworaix8sLqimXs/sDSfoG+TKwBAjLhg1ImdbSx4dHc72k4WsScrVOpwOq7pOz8Pf7+dfPx4gspMjqx8dypPjInCyvbSFpP5utrw1NYqf7hmIk40F9yyM54kfD1BdJxvfCCGEFiRxPoN18jpKFCfcwvq3bEc9rgdH38ZR5xZyRTdvDCqsO5LXYn10FN/sSiOvvJbHxoSb5GjzH27s50+Ypz2vrDhMXYNUaGhtuWU1XP/ZDpYdzOJfY8L5blZ/goy0FXtMgAvLHhzMgyND+WlvBpNmb+VEXrlR2hZCCNF0kjifVlVTS7eqPaS5DgBdC/+3mFvCoIchbQekbGuRLrr5OOLjZM3viTL6eDnqGgzM3XKKvkGu9A82zdHmP5ib6Xjmqq6kFlbx/R4pT9eajuSUMemjbZzMr2DOzbE8OCrM6DtKWpjp+NfYLiy4vS+FFXVcO3s7204UGLUPIYQQFyaJ82lH9m7CRSnHvMu41umw981g59Fio86KojC2mzdbT+TLZd3LsPRAFtmlNdw7LETrUJpkeLgH/YJc+WDdCarqGrQOp0NIzCpl+uc7UVH56Z6BjI5sgYXFZxgS5sGyBwfj42zDrfN282Nceov2J4QQ4i+SOJ9WlbASvaoQ2O/q1unQwgb63wcn10Hm3hbpYmykFzX1BjYfz2+R9ts7g0Hls00nifB2MLlKGuejKApPjougoKKW+dtStA6n3UvILOXGubuwtjBj0awBRPq0TkUTH2cbfrx3AP2D3Xjip4PM3XKqVfoVQoiOThLn0zzytnLCMgJbp1ZMkPrcCVZOsPWdlmk+yBUnGwuZrnGJ1h/J43heBXcPCzbpuc1niwlwYXRXLz7deJLiyjqtw2m3TuRVcNMXu7CzNGfRrAEEGmk+c1M5Wlsw/7Y+XNnDm5d/O8xnm062av9CCNERSeIMlBblE1p/nGLvga3bsbUj9JvVWNM574jRm7cw0zEywpN1R3JpkO18m+3TTSfp7GzD1T19tA6l2Z64ogsVdQ18KslUi8grq+HWebsx1yl8e1c//N1sNYnDwkzH+zf04uqenXh15RFmbzihSRzi0lTUNnAst5z41GJ2JxexO7mIE3nlFFfWSVlJIUyUVNMHTsatprei4txtdOt33u9e2DEbtr4L131m9ObHRnqxZF8me1KKGWCipdRMUVxKEXGpxTw/IRILE9klsDm6eDtwba/OfLk9hZmDAunkZKN1SO1GeU09M+fvobiqju9n9SfArXVHms9mYabjvWnRmOsU3lx9FCtzHXcOCdY0JvFPeoNKXEoR208WsjetmEOZpZRU1Z/3eCcbC7p2cqC7jxODw9zpH+yGtYVswS6E1iRxBuqOb6RatSQ4ugU3PjkfOzeIuQ12fQoj/g0ugUZtfmi4B5bmOn5PypHEuRnmbknG2daCaX38tA7lkj06OpxlB7L4YN1xXr2up9bhtAsGg8pjPxzgaG45X9waS09fZ61DAhorqrx9fTT1epWXfzuMs60lU2J8tQ5L0DgP/tvdafyemENBRR06BcK9HBjf3Rt/Vzs6u9jgZGOBuU7BoKoUVdZRUFHHyfwKkrLKWLAzlblbk7E01zGyiyfX9e7M8C6eWJq3vQ/0QrQHkjgDXoW7OGHTnR7WGo3KDXwA9syBbe/D1e8atWk7K3OGhLrze2Iuz10d2abm6molo7iK35NyuHtYCLaWbfcl4udqy/S+/ny7K437hofi56rNdIL25KMNJ1iT1PhaGt7FU+tw/sZMp/DOtChKq+t5avFBnG0sWrzChzg3VVVZnZjLnC2niE8txsbCjJFdPbmyeyeGhrvjYN30DXGq6/TsSi5k49F8lh/MYlViDu72ltzcP5CbBwTgamfZgj+JEOJsHf4ja0F2GkGGNCp9BmsXhKMPRM+AfQuhLNvozY/t5kVmSTVJ2WVGb7s9+npnKgA39Q/QOJLLd9/wUHQ6hQ/XH9c6lDZv3eFc3l17jGt7dea2QYFah3NOVuZmfHZzDN19HLn/273EpRRpHVKHs/lYPpNmb+OehfHkl9fy7FVd2fnMKGbP6M1VPTs1K2kGsLE0Y3gXT16Y2I0d/x7FvJmx9OjsxLtrjzHwtXW88luSLAIWohV1+MQ5JW4lAO49xmgbyKCHwaCHzW8avelRXb1QFGQr5iaortOzaE86V3TzprNz258X7O1kzYy+/izem0lqYaXW4bRZyQWVPLJoP5GdHHn1uh4mfeXGzsqc+bf1xcfZhllfx8t5byUZxVXctSCOW+btprCijjen9GT9v4Zx55BgnGwubcv1szUu+PZi/m19WfPoUK7q4cMXW5MZ+sYGPlp/XGq3C9EKOnzibDi1iTLsCOrRyhU1zuYaDLG3Q/yXkH/MqE2721sRG+AiZema4Nf9mZRU1TNzYKDWoRjNvcNDMNcpfLheKi5ciroGAw9+txczncJnN8e0iQVarnaWzJvZB4OqcvuXeyitPv8iNHF5DAaVuVtOMfqdTWw9XsBT4yJY//gwpsb6Yd6CC4vDvBx4+/ooVj0ylAEhbrz1+zHGvLNZBkiEaGFtdwKnEaiqim/JHk7aRdPL3AT+K4Y/DQe+h7XPw/TvjNr02EhvXllxmPSiKpnreh6qqvLl9hQivB3oG+SqdThG4+VozY39AvhqRwoPjAht9XrDbd1bvx8lIbOMz26Owdel7bx2gtzt+PSmGG7+Yhf3fRPPl7f1bZMVYkxZdmk1//rhANtPFjIqwpOXrune6leqwr0c+PyWWHYnF/GfXxK4a0Eco7t68eKkbu3iqll7ZTCoZBRXk1FSRVFlHUWVdVTU/nXFwFyn4GxriautJR4OVgS62xntyoW4PCaQLWonK/kIndU80v1u1zqURnbuMORRWPcSpGyDwEFGa3pMpBevrDjMmqRcbh8cZLR225NdyUUcySnn9cmmfSn+UtwzPJhvd6fywfrjvHN9tNbhtBlbjufz+eZT3NjPnyu6eWsdTrP1D3bj1et68viPB/jPLwkmP82kLVmVkM2TPx2kwaDy2nU9mNbHT9P/275Brix/aDDztyXz3trjXPHuZp6bEMnUGF855xpTVZWUwir2JBexJ6WIhKwyTuVXUNvQvP0V3O0tCfGwJ9rfmd7+LvT2d8HDwaqFohbn06ET58y9K+kMeEeP1TqUv/S/D/Z8Aav/DXdtAJ1xLgsHutsR7mXP70k5kjifx1fbU3C2tWBSdGetQzE6TwdrbuoXwLxtyTwwIpRgD3utQzJ5hRW1PPbDAcI87Xn2qkitw7lkU2J8SS6oYPaGkwR72DFraIjWIbVpeoPK278f5eONJ4nyc+b9adEmcxXHwkzHrKEhjO/eicd/PMCTPx1kdUIOr07ugaeDtdbhdSgNegO7U4r4PTGXNUm5ZJZUA+Bia0FPX2cGhbgR6mmPv5stbnZWuNpZ4mD9V0pWrzdQUlVPUWUduWU1JBdUcjK/gqO5Fczbmsxn+lMARHZyZGSEJyMiPIn2c8ZMJx+SWlqHTpzNUreQjwv+4b20DuUvFjYw5iVYfEdjAt1vltGaHhvpzccbT1BcWYeLlDD6m6ySalYn5jBraEibmMN6Ke4eFsLCXal8uP4E706L1jock6aqKk/8dJDS6noW3N4XG8u2/TvxrzFdSC6o5NWVRwj1tGdkhJSpuxSlVfU89P0+Nh3LZ3pfP16Y2A0rc9P73fBzteW7u/rz5fYUXl91hCve3cwbU6IYI+UJW9yp/AoWxaWzOD6TgopaLM11DA1z557hIfQPciXEwx5dE5JbawszHKwtzjm1sqZeT2JWKbuSi9h4JJ9PNp3kow0ncLOzZEKUD9f06kyUr5NcaWghHTZxVg0GAsvjSXbsg4fOxOb9dZ/cWJpu3UvQdQI4djJKs2O7efHRhhOsO5InmyOc5fvdaajAjf38tQ6lxXg4WHHLgEDmbjnFAyNDCZFR5/P6MT6D9UfyeH5CJF07OWodzmXT6RTemhpFamEVD323n5/vG0i4l4PWYbUpJ/LKueOrOLJKqvnftT2YYeJ/K3Q6hdsHBzE03INHFu3jrgVx3DYokKfHR5hkst+W6Q0qqxJy+GpHCruTizDTKYyM8OS6Xp0ZGu6BnZVxUy1rCzNiAlyJCXDlvuGhlFbVs+l4PqsSsvl2dxpfbk8h0M2WqbF+XB/rJ9M5jMzEMsbWk3J4D26UYggapnUo/6QocNXboK+DFY+Dqhql2R6dnfB2tOb3xByjtNdeNOgNLIpLZ1i4R7tfODlraDBW5mZ8sE7qOp9PXlkNLy9Pom+gK7cOCNQ6HKOxtTRnzi2xWFuYcedXcVL7txn2pBQx+ZMdVNbq+X5Wf5NPms8U6mnP4nsHMnNgIPO3pTDlkx1SotBIaur1LNyZysi3N3L/t3vJLavhqXER7Hh6JHNuiWV8j05GT5rPxcnWgolRPnx8Ywx7/m80r0/ugZejNW+uPsrA19bx4Hf72J1chGqkXKKj67CJc+7+1QD4x4zXOJLzcAuBkf8HR5bD/m+M0qSiKIzt5sXm4/lU1+mN0mZ7sOFoPrlltUzv23beDC+Vu70VtwwMYOmBLI7nlmsdjkl67tdEahoMvDa5R5MuqbYlPs42fH5LDDllNdz7TTz1+uYtTuqIVhzK5sa5u3Czt2TJfQOJCWh7FXeszM14YWI3Prs5hrSiKq76YCtLD2RpHVabVVOv54utyQx+fT3P/pKAs60ln97Um/X/Gs69w0PwdNRuPrmTjQXT+viz6O4BrH1sGDf1D2Dj0Tyu/2wH49/fwuL4DOqauShR/F2HTZxtMraSoXTC2z9M61DOb8ADEDgEVj4FRclGaXJspDc19Qa2nigwSnvtwXe70/B0sGJUhGltodxS7h4ago2FGe/LqPM/rDyUzarEHB4dHd5uF1D29nfhtet6sPNUEc8vTZRRqAuYtzWZ+7/dS4/OTiy+Z2CbvyJ1RTdvVjw8hC7eDjz03T7+b8khauplEKWpGvQGftiTzsi3NvLf5UmEeznw3V39+eW+gYzr3snkFuaFetrz/IRu7HpmFK9d1wODqvKvHw8w7M0NzN1y6m/l70TTdcjEub6ultCqA2S69tM6lAvTmcE1n4BiBj/cAnVVl91kv2BXHKzNZbrGaZkl1Ww8mse0Pi27WYEpcbWzZObAQH47lM3RHBl1/kNpVT3/+TWR7p0duWtI+648c11vX+4ZFsK3u9L+3GJe/EVVVd5be4yXlicxNtKLb+7s124WVHd2tuH7Wf25Z1gI3+xK47qPt5NSIFM3LkRVVdYk5XLFe5t5cvFBPBys+ObOfnx7V38GhLiZ/CI8W0tzbujrz6qHhzJvZiz+rra8/NthBry6jtdXHSGvrEbrENsUo2YKiqKMUxTlqKIoJxRFedqYbRvTyf2bsVNqsAgdrnUoF+fsB5PnQs4hWPrAZc93tjDTMSrCk7WHc2mQy7Qs2pOOCkzr46d1KK3qriHB2Fma895a4+5S2Za9/FsSxVV1vD65Z4f4EPXEFV0Y3dWTF5clsfW4XIH6g6qqvLbqCO+tPc6UGF8+vrFt7BbZHBZmOp4eH8EXt8aSVVrN1R9u5beD2VqHZZKSCyq57cs93LUgDoBPb4rhl/sHMSjUXePImk+nUxgZ4cWiuwfwy/2DGBLmzqebTjL49Q38++eDJMsHqCYx2ruDoihmwGxgPBAJTFcUxSSLnxYnrsWgKgT3MdH5zWcLHwuj/gMJi2H9fy+7ubHdvCmuqicutdgIwbVdf1x2Gxbu0aZ2hDMGFztLbh8UyMqEHBKzSrUOR3NbjufzY3wGdw8NppuPk9bhtAozncJ7N/QixMOO+76JlzdNGndze2FpIp9tOsVN/f15Y3JPk7v8bkyjunrx20NDCPOy5/5v9/L8rwnUNsjUDYCqugbeOF3KLy6lmGev6sqqR4Yyrru3yY8wN0W0nzMf3xjDhn8NZ2qsL4v3ZjLy7Y3cuzCeA+klWodn0hRjzW9TFGUA8IKqqlec/v7fAKqqvnqu42NjY9W4uDij9N0ce36ZTZ/9z3DUvAtdnt3d6v1fMlWFZQ/D3q9g5H9g6OOX3FRFbQO9/7uGm/oF8NyEFvhsU1MGJalQkgYVuVBZCFVn3OoqoL4aGmqgvgbqqxoriPzh7N9JRQEzC9BZgJklmJk3/quzOOvrP26WoDM/62b2j++Ti2pZmpDHVVG+hHo5N95vZtH4r3KOz5R//rFUmvn9eVz0tXeBxy/43Iu0e/q51fV63vz9KEFu9tzc/4+FkU17brO12M96+Wob9Hyy6SRmisI9w0OwMLXylC2sqKqOuVtOYWNpxp2Dg7FpZ6OrTWVQVZYdzGZfWjEDQtwYG+mFQttPkJqiwaCy7nAuO04V4uNsw5QYX1xt28fUlOZSUUnKKmN1Yi5lNfVE+ToxOtILB6v2vd11RW0DO08Vsie1iNp6A0HudgwKdSfEw651XgduoRA2uuX7OQdFUeJVVY1t8vFGTJynAONUVb3z9Pc3A/1UVX3gjGNmAbMA3NzcYh544IFzttVS9A0N1G79EFtqyPAYim83421p3SpUAxxeDnmJ4D8AgoZdPDk7j6X7M8mvqOP2QYGX9ulZVaGuEirzG28VeVBVANUl0FD9z+PNrBo3d7GwOZ38nk5QdRZ/JbZ/i+OMr1XD6ZseDKf/VQ1gOOtfVX/G1xe6qaAaMBj06JDpKkIIIYSmPCMhcpImXb/44oummzifSasR59LiAo5t+p6o8XdiadUGtyDVNzTWdo6f3/hLNvFDsG7+peUf49J54qeDLHtgMD18m/B8fT1kH4S0HY239N1QmffX4/Ze4NkVXIPBOQCc/Rv/dewENq5gYVr/15kl1Qx5fT33DQ/l8TFhYKgHQ0PjTd/AnyOgf74+LuP7C34wuciHlkt97kU/DDU+XlFbz6TZ2+je2Yn3p/Vq1nOb3+/l/KwtY39GKTPn72ZarB//Hh/R6v2bksV7M3lpeRI39vPnySu6aB1Oq6nVG3h68UHWH8nnoVGh3DGofS8MvZjMkmqe/OkgCVll3NjPn0dGh2Np1r5H3stqG/hs00m+352OraUZD4wMY0qML+38x76gWr2BlQdzmL8jmZSCKnxdbLhlQCCTon2wNm+Bq3JmlmClTSWj5o44G7MydyZw5gor39P3mRQnF3f6XNO6I91GZWYOV7/bWOd5zfOQEQ8T34fQ5l3iGN3VCzOdwsqE7HMnzjVlkLEb0nY23jLi/hpJdgmC0FHQKarxU6JXN7BrWwslfjhzUaBOBzoroOPtrmTvAJOHxfDGqqPcUmRJTICL1iG1mtoGPY8vP4StozsPXt0XWmGjAlM2ebArh4p0fLw9hQDfCqb1af91zWvq9dyzKJ6NR6t5fkJfbuvgSTNAZ1uYf18n/rfiMB9vT2Fb1hFmz+jVLteBGAwqS/Zl8urKIxRW1nJDn648cUUXXNtJBZXLYQVcM8idiQO6seZwLp9sPMlTK9J5c3MuN/UP4IY+/ng7mdaAWGsx5oizOXAMGEVjwrwHmKGqauK5jtdqxLldyYiHJXdD4fHGaRtDH4eAwY2JYBPcOHcn2SU1rHtsKEpJKmTsaRxJTt8JuYmN0xoUM+jUE/z6g//pm4N3C/9gLatBb2DIGxsI93Lgq9v7ah2O5iprGxj6xgYifRz5+g4TL9FoRO+sOcYH644z/7Y+jOjSMWp4X0yD3sBtX+5h56lCvrmzP32D2t5mH01VWdvAXQvi2HGqkP9d26NDbIDUXCsPZfPkTwfR6RTenNKTsd3a9t/+Mx3KKOWFZYnEpxYT7efMS5O60dPXWeuwTJaqquxKLuKzTSfZcDQfM53CqAhPZvTzZ2iYR5veLEqzOc6nO78SeA8wA+apqvrK+Y6VxNlI6msgbh5sebtxjrFzAERc1TgH2rMrOPmCuXXjZXB9fePivPIcKDjGof27yT6+l5H2aZhX5ze2Z2EHfn0an+/fHzrHanb5pKWsTcrlzgVxfHpTDOO6t583gssxZ/MpXllxmB/uHtCuk6U/HM4uY8KHW5kQ5cO706K1DseklFbVc+3H2yiprufX+we1+U0/zqWspp7b5u9hX1oxb18fxbW9fLUOyWSlFlZy/7d7ScgsY3JvX56bEImTTdtdKFdQUctbq4+yKC4dNztLnrwigikxvm068WttqYWVfLc7nR/j0imsrMPP1YYpvf2YGO1DkLud1uE1m6aJc3NI4mxkdVVweBkc/B5StzdWrDiTzrxx/u4ZVMWMk3ov6r170bXPKPDr2zj1Qte+V9Xf8eUeDmaWsv3pkVh0gHq9TVFdp2fomxsI8bDj+1kDtA6nRTXoDVz3yXYyi6tZ89gwuSx7DqfyK7hm9jZ8nG346d6B2LejaSzFlXXcMm83h7PL+HB6L8b36KR1SCavrsHAh+uP8/HGk3jYW/Hq5B5t7ipNvd7A1ztSeXftMarr9MwcGMhDo8NwtG67HwK0Vtug5/fEXL7dlcaOU4UA9OjsxMQoH0ZHerWZJFoSZwENtY0L+YpOQmlGY6k3fX3jyLOdG9h5gnsYuIYweU4cNfV6fntoiNZRt4qskmoG/7EosAMtgGqK+duSeXFZEt/c2a9NFvdvqj9G1z+c3osJUT5ah2OythzPZ+b8PYzo4snnN8e0ixG5/PJabv5iF6cKKvn0pt6MjPDSOqQ25WBGCf/64QDH8yq4PtaXf4/vavI7KqqqytrDebyx6gjH8yoYEubO8xMiCfV00Dq0diW7tJrfDmaz9EAWBzMa9wYIcLNleLgHQ8M96OXvYrKDFJI4i2b5I4nY8uSIdnlJ9mzvrT3G++uOs/mJjvHzNkdNvZ6Rb23E3cGKX+4b1C4SpbOlFFQy7v3NDA71YM4tMe1iI4OW9MeHqbuHBfPv8V21Duey5JTWMOP0uo45t8QyOKz9fjhsSbUNet5be5zPN5/Cwdqcf43twoy+/ia5Uczu5CJeX3WE+NRigtzteHp8RGN9bnndt6j0oio2Hs1j49F8tp8spLq+cVOdQDdbov2c6ebjRLCHHUHudvi62GLZElU6mkESZ9EsaYVVDH1zA/93ZVfuGhqsdTgt6o9FgWFeDiyQRYHn9FN8Bo//eKBdjsaqqsr0OTtJzCxjzWPDOuyK8OZQVZVnf0ngm11p/Ht8BHcPC9E6pEuSXlTFjXN3UVRZx7yZfTrEPP6WdiSnjBeWJrLzVBFdOzny/IRI+ge7aR0WAAfSS3h/3XHWH8nD08GKR0aHMzXWV6bmaaCmXs/+9BL2p5ewL62YfWkl5JXX/u0YNztLJkT58MLEbprEqGU5OtEG+bvZEtnJkVWJOe0+cd50LJ/s0hqen6DNi7MtuLZXZ+ZuOcWbq49yRTdvzUcCjOn7PensPFXE/67tIUlzEymKwkuTulNSXc+rK4/gaGPR5qpPHM4u49Z5u6mp17Pwzn5E+zlrHVK7EOHtyHd39ee3Q9m88tthbvh8J4NC3Xh0dDixga3/wURVVTYfL+DTjSfZcaoQR2tznhoXwcyBgdhYtu91O6bM2sKM/sFuf/tQVVJVx6mCSk7lV5JZXE1ueQ0hnm2nCIEkzoJx3b15Z80x8spq8HRsvwnFd7vT8HCwYlTXtrWopTWZ6RSeGh/BbfP38O2uVGa2k7q22aXV/O+3w/QPduWGPn4Xf4L4k5lO4d3ro6msbeCZJYewszJnYhu5GrHzVCF3LYjDztKcH+8ZSBdvmddqTIqicHVPH0ZFePHNrlQ+3XSSKZ/uYGCIG7cODGRUhCfmLTzKW1ZTz9L9WXyzK43D2WV4OVrxzJURTO/rj4Ms/DNJzraW9Pa3pLd/29w3QBJn8WfivDopl5v7B2gdTovIKqlm/ZE87h0eIpfrLmJ4uAcDgt34YP0JJsf4tvk3H1VVeebnQ9QbDLw+uWe7nLvd0izNdXxyYwy3ztvNo4v2o6oqk6I7ax3WBa08lM3Di/bj52LDgjv60dnZRuuQ2i0bSzPuHBLMjH7+LNyZyvxtKdz9dTydnW24oY8fV0cZt0xZTb2e7ScL+O1gDisOZVNdryfC24E3JvdkUi8frMxlhFm0HEmcBWGe9gS727E6IafdJs4/xDXuFHhDB9gN7XIpisK/r4xg4kfb+GzTqTZffWTJvkw2HM3nP1dHEuDWNsojmSIbSzPm39aHO77awyOL9lNbb+B6Exy9V1WVuVuS+d/Kw/Tyc+aLW/uYfOWH9sLW0pxZQ0O4fVAQaw/nsmBHKm+vOcbba44R2cmR4V08GBjiTu8AZ2wtm55+6A0qR3LK2JtazM5TRWw8mkdlnR57K3Ou6eXDDX386enrJIv+RKuQxFmgKApXdPfm882nKKmqw9m2fb3J6A0qi/akMyTMQyppNFFPX2cmRPkwd+spZvTzx6eNjtblldfw4rIkYgJcmDkwUOtw2jw7K3Pmz+zL3QvjeXLxQarr9dxqQv+vtQ16/m9JAj/FZzC+uzfvXB8t81s1YG6mY1z3Tozr3omskmpWHMpmVUIOn20+xccbT6IoEOhmR5inPT7ONng4WOFgbY5OUVAUKK9poKSqnuzSapILKjmZV0FlXWNlBk8HKyZG+zC2mzcDQ9xkdFm0OkmcBQDjunnzycaT/J6Ya5KjSJdj49G804sCI7UOpU158oou/J6Yw/9WHOajGb21DqfZVFXlP78kUF2v540pPU2yXFZbZGNpxpxbYnjg2308vzSRrJJqnhoXofkUmLzyGu5buJe41GIeHhXGw6PCNI9JgI+zDXcOCebOIcFU1DawJ7mI/eklHMst53heBTtOFVJe0/CP51mYKXg6WBPsYceUGF96+bsQE+CCr4uNjCwLTUniLADo6euEn6sNyw5mtbvE+a9FgbLZQXP4udpyz7AQ3l93nBv7FTIgxDRKTTXVb4eyWZ2Yy9PjIwjxaDsrttsCK3MzPrmxNy8uS+KzzadILazinWlRzbr8bkybjuXzrx/2U1HbwOwZvbmqp+wGaIrsrcwZEeHJiIi/L9CuqddTXtOAQVVRVXC0McfGwkwSZGGSZJWUABqna0zo6cP2k4UUVtRe/AltRHZp46LA66WG5yW5d3gIvi42vLgskQa9Qetwmqygopbnf00kyteJOwe3j8ogpsbcTMdLk7rxn6sjWZ2UwzWzt3E8t7xVY6jXG3h15WFunbcbNzsrlj84WJLmNsjawgwPByu8HK3xdrLG1tJckmZhsiSTEH+aEOWD3qCyMiFH61CMZtGedAyqLAq8VNYWZjx7VSRHcspZuDNV63CaRFVVnvrpIOW1Dbw5NarFy2F1ZIqicMfgIBbc3pfCijomfrSNRXvSaI2NtfanlzDhw618tqlxHv6vDwySbZSFEC1O3lHEnyK8HQj1tGfZgSytQzGKvxYFusuiwMtwRTcvhoS58/aaY+SXm/7ViG93p7HuSB5Pj4sg3EsSqdYwJMyDFQ8PIcrPiacWH+KmL3aRWljZIn0VV9bxwtJErvt4G8VVdcy5JZb/XdsDawtZJCaEaHmSOIs//TFdY3dKETmlNVqHc9k2HWtcFHhjPxltvhyKovDCxG7UNhh4YWmi1uFc0Mn8Cv67PIkhYe5SRaOVeTla8+2d/fnvNd05mF7K2Hc38+qKw0ab+lVR28DHG08w9M0NLNiRwox+/qx5bBhjImXtghCi9UjiLP7m6qhOqGrjwqq27ttdabjby6JAYwjxsOfhUWH8drqslCmq1xt4dNF+rC3MeGtqlFRU0IBOp3Bz/wDWPDaMq3p0Ys6WUwx9YwMvL0/iRN6lzX9OKajk5eVJDPjfOt5YdZS+ga6semQoL1/TA8c2vjmPEKLtkaoa4m9CPOzp5uPIsgNZ3NGGF1X9sSjwnmGyU6CxzBoazG8Hs/nPrwkMCHbDyda0kpZXVxzhYEYpn9zYG692vHV8W+DtZM0706K5b0QI7687wZfbU5i7NZloP2dGRXgyMNSNLt6O2Fv98y2orKaehIxSdqcUsSohhyM55ZjrFK7s0YnbBgXSq41u0yuEaB8kcRb/MCHKh9dWHiG9qKrNzg3+Y1Hg9L4yTcNYLMx0vDGlJ5Nmb+PF5Ym8c3201iH9acWhbOZtS2bmwEDG95CqCqYi1NOBD6f3Iv/qSH7Zl8mvBzJP7yTX+LiHgxUuthZYmOmoazCQX1FLSVU9AIoCsQEuPHtVV67u6YO3k3wYEkJoTxJn8Q9X9+zEayuP8Ov+TB4YGaZ1OM1W12Dg211pDAuXnQKNrXtnJ+4fEcoH644zLNyDSdGdtQ6JU/kVPPnTQaL9nHnmyq5ahyPOwcPBiruGBnPX0GAKK2qJTy3meF4FaYVVlFTX0aBXsTTX0TfIFV8XWyJ9HIn2dTa5qxpCCCGJs/gHXxdb+gW5snhvJvePCG1z9TRXJ+aQV17L65MDtQ6lXXpoZCjbThTw7JIEevu7aPrhpKqugXsX7sXCTGH2jb2xNJdpOabOzd6Ksd28GdtN60iEEKL55F1GnNPkGF+SCyrZm1aidSjNtmBHCgFutgwL99A6lHbJ3EzHe9OiQYGHvt9HXYM2G6PoDSoPf7+f43nlvHdDLzo722gShxBCiI5DEmdxTlf26ISNhRk/xWdoHUqzJGaVsielmJv7B0hVhRbk52rLa9f1ZF9aCc8vTWyVDS/O9uqKw6xJyuU/V0fKhyQhhBCtQhJncU72VuaM7+7N8oNZ1NTrtQ6nyRZsT8XGwoypMX5ah9LuXdWzE/cOD+G73Wks2NG6uwp+vaOxSsOtAwK4bVDbrf4ihBCibZHEWZzX5BhfymsaWJOUq3UoTVJSVccv+zO5pldnWVTUSp4Y24XRXT15aXkSm4/lt0qfP8Vn8J9fExkV4cl/ro5slT6FEEIIkMRZXMCAYDd8nKzbzHSNRXvSqW0wcOvAAK1D6TB0OoX3buhFmKc9d38dT3xqUYv29+v+TJ786QBDwtyZfWNvzKVGtxBCiFYk7zrivHQ6het6+7LleD65Zaa9BbfeoPL1zlT6BbkS4e2odTgdir2VOQvu6Iu3kzUz5+/hQHpJi/SzaE8aj/1wgL5Brnx+cyzWFmYt0o8QQghxPpI4iwuaHOOLQYXFe0171HlNUi4ZxdXcOjBQ61A6JE8Haxbe2Q9nWwumz9nJJiNO2zAYVN5dc4ynFh9iUKg7X9zaBxtLSZqFEEK0PkmcxQUFudvRL8iV73anYTC0fuWEplBVlc82n8TP1YaxkV5ah9NhdXa2YfG9Awlws+OOL/cwb2vyZVfbKK2qZ9bXcby/7jiTe/vyxa2x2J1jm2YhhBCiNUjiLC7qpv4BpBdVs+l46yz+aq641GL2pZVw15BgmfOqMU8Haxbd3Z/hXRoXDN6zMJ68S5zmsyYpl3Hvb2bTsXxemBDJW1N7YiHnVwghhIbkXUhc1BXdvHG3t2JhK5cca6rPNp3CxdZCStCZCEdrC+bcEsP/XdmVDUfyGfn2Jj7ddJLymvomPX9fWjG3zd/NXQvicLS24Md7BjJzUFCb28FSCCFE+yPXPMVFWZrrmNbHl483niSjuApfF+22WD7bibxy1h7O5eFRYTLv1YQoisJdQ4MZHenFi8sSeW3lET5af4IJUT6M6OJBT19nPB2s0OkUaur1HM0pZ3dyEcsPZnEgoxRnWwueGhfBHYODZBttIYQQJkMSZ9Ek0/v68/HGk3y3O40nrojQOpw/fb75FNYWOm4ZICXoTFGQux1f3taXgxklzNuazNL9mXy3Ow0A89M7OzacMXe+R2cnnr2qKzf09cde5jILIYQwMfLOJJrE18WWURGeLNqTzoMjw0yiFFhuWQ2/7MtiWh8/3OyttA5HXEBPX2feu6EXdQ0G9qYVcyKvgqySagBsLc0I9bSne2cnk7qaIYQQQpzNKImzoigvAHcBf6wee0ZV1RXGaFuYjtsHBTFj7i6W7Mtkel9/rcPh000n0asqdw6RLZfbCktzHf2D3egf7KZ1KEIIIUSzGXPy4LuqqkafvknS3A4NCHGje2dH5mw+pXlputyyGr7Zlcbk3p0JcLPTNBYhhBBCdAyy6kY0maIo3D00hFMFlaw5nKtpLB9vOIHBoPLgyDBN4xBCCCFEx2HMxPkBRVEOKooyT1EUFyO2K0zI+O7e+Lna8Nmmk5rFkF1azXe705ka64ufq8yJFUIIIUTraHLirCjKWkVREs5xmwR8AoQA0UA28PZ52pilKEqcoihx+fmmuZmGuDBzMx13DQlmb1oJe1KKNInho/UnUFG5f0SoJv0LIYQQomNqcuKsqupoVVW7n+P2q6qquaqq6lVVNQBzgL7naeNzVVVjVVWN9fDwMNbPIFrZ1Bg/3O0teXfNsVbv+3huOd/vSWd6X3+pwCCEEEKIVmWUqRqKonQ649trgQRjtCtMk42lGfcND2X7yUK2nyho1b5fWXEYW0szHhkd3qr9CiGEEEIYa47zG4qiHFIU5SAwAnjUSO0KEzWjnz+dnKx58/ejqGrrVNjYdCyfjUfzeWhkGK52lq3SpxBCCCHEH4ySOKuqerOqqj1UVe2pqupEVVWzjdGuMF3WFmY8NCqMfWklrE5s+QobDXoDLy9PIsDNllsGyi6BQgghhGh9Uo5OXLKpMb6Ee9nz8m9J1NTrW7Sv+dtSOJ5Xwb/Hd8XKXPtdC4UQQgjR8UjiLC6ZuZmOFyZ0I6O4mjmbT7VYP2mFVby95iiju3pyRTevFutHCCGEEOJCJHEWl2VgqDvju3sze+MJUgsrjd6+qqo8s+QQ5jod/72mO4qiGL0PIYQQQoimkMRZXLbnJkRiYabjiR8PojfyVtzztqWw9UQBT4+PoJOTjVHbFkIIIYRoDkmcxWXr5GTDCxO6sTuliHlbk43W7qGMUl5beZgxkV7c2M/faO0KIYQQQlwKSZyFUVzXuzNjIr14Y/UR4lMvf0fBwopa7v92Lx72Vrw5padM0RBCCCGE5iRxFkahKApvTumJj7MNd3+9l+zS6ktuq6Zez10L4sgtq2H2jb1xtpWazUIIIYTQniTOwmicbS2Zc0ss1XUN3DZ/D0WVdc1uo6ZezwPf7mNfegnv3xBNL3+XFohUCCGEEKL5JHEWRhXu5cCnN8eQXFDJ9M93kl9e2+TnVtQ2cPuXe1h7OJeXJnZjXPdOF3+SEEIIIUQrkcRZGN2QMA/mzexDalEl18zext604os+52hOOdfO3sau5CLeuT6KmwcEtnygQgghhBDNIImzaBGDQt354e4BAEz+ZDvPLDlESsE/6zynF1XxwtJErvpgC8VVdXx1W1+u6+3b2uEKIYQQQlyUoqrGrbvbVLGxsWpcXJwmfYvWU1pdz7trjrFwZyoNBpVwL3tCPOxRFDiVX8mRnHJ0Clwf68fjV3TB3d5K65CFEEII0UEoihKvqmpsk4+XxFm0hryyGhbvzWTHqUIyi6sA6OxiS78gV67t1RkfZ9ncRAghhBCtSxJnIYQQQgghmqC5ibPMcRZCCCGEEKIJJHEWQgghhBCiCSRxFkIIIYQQogkkcRZCCCGEEKIJJHEWQgghhBCiCTSrqqEoSj6Qqknn4A4UaNS3OD85L6ZLzo1pkvNimuS8mC45N6ZJy/MSoKqqR1MP1ixx1pKiKHHNKT0iWoecF9Ml58Y0yXkxTXJeTJecG9PUls6LTNUQQgghhBCiCSRxFkIIIYQQogk6auL8udYBiHOS82K65NyYJjkvpknOi+mSc2Oa2sx56ZBznIUQQgghhGiujjriLIQQQgghRLO068RZUZRxiqIcVRTlhKIoT5/jcStFURadfnyXoiiBGoTZ4TThvMxUFCVf+f/27iVEjjKK4vj/OBlREAwYwZBEFMxmFDMqDCNugiIkLjILsxgXvlAEUVRw50IxOzcKiugiBqOID6LIKBEJGNCNL0J8xLgY3BgJBBKdKEpk5Lioig49jy7B1NfpOj8oqOq6i8tcbvftqfqqpYP1dm+JPLtG0i5JxyR9u8x5SXq2rtvXkq5tO8cualCXzZLmFvTL423n2EWSNkjaL+k7SYckPbxETHqmZQ3rkp4pQNJ5kj6X9FVdmyeXiBn4uWxoB2dJI8DzwFZgDLhN0lhP2D3Az7avAJ4Bnmo3y+5pWBeAN22P19vOVpPsrpeBLSuc3wpsrLf7gBdayCn61wXgkwX9sqOFnALmgUdtjwGTwANLvJelZ9rXpC6QninhFHCj7U3AOLBF0mRPzMDPZUM7OAMTwKztH2z/CbwBTPXETAG76/09wE2S1GKOXdSkLlGA7Y+BEyuETAGvuPIpsFrS2nay664GdYkCbB+1faDe/xU4DKzrCUvPtKxhXaKAug9+qw9H6613od3Az2XDPDivA35ccHyExc3zT4zteWAOuKiV7LqrSV0Abq0vbe6RtKGd1KKPprWL9l1fX/78QNKVpZPpmvpy8jXAZz2n0jMFrVAXSM8UIWlE0kHgGLDP9rI9M6hz2TAPznH2eg+4zPbVwD7+/fYZEYsdoPrJ2E3Ac8C7ZdPpFkkXAG8Dj9g+WTqfqPSpS3qmENt/2R4H1gMTkq4qnNJ/NsyD80/Awv9Urq9fWzJG0irgQuB4K9l1V9+62D5u+1R9uBO4rqXcYmVNeipaZvvk6cuftvcCo5LWFE6rEySNUg1nr9l+Z4mQ9EwB/eqSninP9i/Afhav3xj4uWyYB+cvgI2SLpd0LjANzPTEzAB31vvbgY+cB1ufaX3r0nMP4Daqe9SivBngjvpJAZPAnO2jpZPqOkmXnL4HUNIE1fv6QH3QDKP6b/4ScNj208uEpWda1qQu6ZkyJF0saXW9fz5wM/B9T9jAz2WrSidwptiel/Qg8CEwAuyyfUjSDuBL2zNUzfWqpFmqxTfT5TLuhoZ1eUjSNqrV0SeAu4ol3CGSXgc2A2skHQGeoFq8ge0Xgb3ALcAs8Dtwd5lMu6VBXbYD90uaB/4Apgftg2ZI3QDcDnxT37MJ8BhwKaRnCmpSl/RMGWuB3fXTtc4B3rL9/tk2l+WXAyMiIiIiGhjmWzUiIiIiIv43GZwjIiIiIhrI4BwRERER0UAG54iIiIiIBjI4R0REREQ0kME5IiIiIqKBDM4REREREQ1kcI6IiIiIaOBvM4Whltf3HeUAAAAASUVORK5CYII=\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fbsys=PhyM.feedback(Obsv,1) \n",
    "print(\"dcgain:\",fbsys.dcgain())\n",
    "\n",
    "T=linspace(0,3,1000)\n",
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,1)\n",
    "fig.set_size_inches(10,5)\n",
    "\n",
    "#r0=-0.0001/4\n",
    "r0=0.1\n",
    "sres=step_response(SS,T)\n",
    "ires=impulse_response(SS,T)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"Plant\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "\n",
    "sres=step_response(fbsys,T)\n",
    "ires=impulse_response(fbsys,T)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:], label=\"State FB\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:])\n",
    "axes[0].axhline(1,color=\"black\",linewidth=0.5)\n",
    "axes[1].axhline(0,color=\"black\",linewidth=0.5)\n",
    "fig.legend();fig.tight_layout()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "fe3d16e1-1119-4d2f-8982-8e0df672d069",
   "metadata": {},
   "source": [
    "## 外乱オブザーバを入れた時に期待されるDCgainの説明\n",
    "\n",
    "$\\frac{d \\delta}{dt} = 0$ から、\n",
    "$C \\left(\\hat{x} - x \\right) = \\delta$\n",
    "となります。。\n",
    "これを \n",
    "$\\frac{d \\hat{x}}{d t} = 0$\n",
    "に代入すると、\n",
    "$0= \\left(A - B K\\right)\\hat{x}$\n",
    "となりますが、\n",
    "$K$\n",
    "の選択によって、\n",
    "$A- B K$\n",
    "は正則です。\n",
    "従って、\n",
    "$\\hat{X} = 0$\n",
    "かつ\n",
    "$\\frac{d X} {d t}=0$\n",
    "の条件は、結局、\n",
    "$A X + B r = 0$\n",
    "に帰着されます。\n",
    "$A$\n",
    "が正則の場合には、\n",
    "$$\n",
    "y= -C A^{-1} B r\n",
    "$$\n",
    "となります。\n",
    "\n",
    "一般には、$A$は正則とは限りませんが、その場合は$\\det{A} = 0$となります。これは、システムは$s=0$に極をもち、入力の積分を含むことを意味しています。\n",
    "この場合、入力が $r=0$ でなければ状態変数が発散してしまいます。ということで、DC Gainが意味を持つためには $A$ が正則である場合のみととも言えます。\n",
    "\n",
    "\n",
    "これを例題のシステムについて計算すると、"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 78,
   "id": "65d012a2-7075-4427-9df0-7d852ef608ac",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "matrix([[1.01936799]])"
      ]
     },
     "execution_count": 78,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "- (SS.C@matrix(SS.A)**(-1))@SS.B"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "bc9d5b1c-0599-4057-b1bb-713db16790f0",
   "metadata": {},
   "source": [
    "とDCgainは 被制御対象システムのDCgainと同じであることが確認できました。"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "cae1abb2-d1c4-49c0-aac2-888d958493cc",
   "metadata": {},
   "source": [
    "# 伝達関数から状態方程式への変換について\n",
    "\n",
    "伝達関数の考え方は、入力 $u$ と出力 $y$ の関係は、微分方程式::\n",
    "\n",
    "$$\n",
    "\\begin{cases}\n",
    "y^{(N)} &= - \\Sigma_{k=0}^{N-1} a_k y^{(k)} + \\Sigma_{k=0}^{M} b_k u^{(k)} \\\\\n",
    "y^{(k)} &\\equiv \\frac{d^k y}{d t^k}\\quad\\text{for}\\; k \\ge 1,\\\\ \n",
    "y^{(0)} &\\equiv y\\\\\n",
    "\\end{cases}\n",
    "$$\n",
    "\n",
    "によって記述されるということです。ラプラス変換を行うと、\n",
    "\n",
    "$$\n",
    "Y(s) = \\frac{\\Sigma_{k=0}^{M} b_k s^k}{\\Sigma_{k=0}^{N} a_k s^k} U(s) \n",
    "$$\n",
    "\n",
    "となります ( $a_N \\equiv 1$ とします)。\n",
    "\n",
    "この微分方程式を状態変数\n",
    "$X=\\begin{pmatrix} x_0\\\\x_1\\\\ \\vdots \\\\ x_n \\end{pmatrix}$\n",
    "の状態方程式に書き換えることができれば、システムを伝達関数の記述から、状態方程式に書き換えることができたということになります。\n",
    "よく知られたように、システムがプロパー、すなわち 条件：　\n",
    "$N \\ge M$\n",
    "が成り立つ、であればこれは可能です。\n",
    "\n",
    "実際、この場合には、等価な状態方程式は、\n",
    "\n",
    "$$\n",
    "\\frac{d \\vec{X}}{d t} =  A \\vec{X} +  B {u} \\\\\n",
    "{y} = {C} \\vec{X} + {D} {u}\n",
    "$$\n",
    "\n",
    "となります。(入力 $u$ および　出力$y$はスカラーであることに注意）\n",
    "状態　\n",
    "$X$\n",
    "は、\n",
    "$$\n",
    "\\vec{X} =\\begin{pmatrix} x \\\\ x^{(1)}\\\\ x^{(2)}\\\\\\vdots\\\\x^{(N-1)}\\end{pmatrix}\n",
    "$$\n",
    "となっています。\n",
    "\n",
    "ここで、\n",
    "$A,B,C,D$\n",
    "を　\n",
    "$$\n",
    "{A} = \\begin{pmatrix} 0,& 1,& 0,& 0,& \\cdots&, 0\\\\\n",
    "   0,& 0,& 1,& 0,& \\cdots &, 0\\\\\n",
    "   \\vdots& \\vdots& \\vdots& \\vdots& \\ddots& \\vdots\\\\\n",
    "   0,& 0,& 0,& 0,& \\cdots&, 1\\\\\n",
    "   -a_0,& -a_1,& -a_2,& -a_3,& \\cdots&, -a_{N-1} \\\\\n",
    "   \\end{pmatrix}\\\\\n",
    "   \\\\\n",
    "{B} = \\begin{pmatrix} 0\\\\ 0\\\\  \\vdots \\\\ 0\\\\ 1\\end{pmatrix} \\\\\n",
    "{C} = \\begin{pmatrix} b_0 - b_N a_0,& b_1 - b_N a_1,& \\cdots, b_{N-1}-b_N a_{N-1}\\end{pmatrix}\\\\\n",
    "   \\\\\n",
    "{D} = b_N \\\\\n",
    "$$\n",
    "で定義します。　ここで、\n",
    "$b_k= 0 \\text{ for } N \\le k \\gt M$\n",
    "としています。\n",
    "\n",
    "状態方程式の第一式は、\n",
    "\n",
    "$$\n",
    " x^{(n)} = -\\Sigma_{k=0}^{N-1} a_k x^{(k)} + u\n",
    "$$\n",
    "\n",
    "に帰着されます。　$a_N=1$とすれば、\n",
    "\n",
    "$$\n",
    " \\Sigma_{k=0}^{N} a_k x^{(k)} = u\n",
    "$$\n",
    "\n",
    "となります。\n",
    "\n",
    "$$\n",
    "   y = \\Sigma_{k=0}^{N-1}\\left(b_k-b_N a_k\\right)\\frac{d^k x}{d t^k} + b_N u\n",
    "$$\n",
    "\n",
    "となる。両辺から \n",
    "$\\Sigma_{k=0}^{N} a_k \\frac{d^k}{d t^k}$\n",
    "を掛けて\n",
    "\n",
    "$$\n",
    "   \\Sigma_{k=0}^{N} a_k \\frac{d^k y}{d t^k} = \\Sigma_{k=0}^{N-1}\\left(b_k-b_N a_k\\right)\\frac{d^k u}{d t^k} + b_N \\Sigma_{k=0}^{N} a_k \\frac{d^k u}{d t^k}\\\\\n",
    "   = \\Sigma_{k=0}^{N-1}b_k\\frac{d^k u}{d t^k} + b_N \\frac{d^N u}{d t^N}\\\\\n",
    "   = \\Sigma_{k=0}^{N}b_k\\frac{d^k u}{d t^k}\\\\\n",
    "$$\n",
    "\n",
    "となります( \n",
    "$a_N = 1$\n",
    "に注意)。 このように、\n",
    "$N \\ge M$\n",
    "であれば、伝達関数表示と状態方程式表示が等価であることが明示的に示されます。"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "9a4f297d-022a-421e-9ab2-d7446bbc0794",
   "metadata": {},
   "source": [
    "### 可制御標準型\n",
    "この伝達関数表示から作成した、状態変数表示は可制御標準型と呼ばれます。可制御性を調べるために、$B, A B, A^2B, \\dots A^{N-1}B$を考えると、\n",
    "\n",
    "$$\n",
    "\\begin{pmatrix} 0\\\\ 0\\\\  \\vdots \\\\ 0\\\\ 1\\end{pmatrix}, \\begin{pmatrix} 0\\\\ 0\\\\  \\vdots \\\\ 0 \\\\ 1\\\\ -a_{N-1}\\end{pmatrix},\n",
    "\\begin{pmatrix} 0\\\\ 0\\\\  \\vdots  \\\\ 1\\\\ -a_{N-1}\\\\- a_{N-2}-a_{N-1}^2\\end{pmatrix},\\dots \n",
    "\\begin{pmatrix} 1\\\\ a_{N-1}\\\\- a_{N-2}-a_{N-1}^2 \\\\ \\vdots \\\\\\vdots \\\\ \\end{pmatrix}\n",
    "$$\n",
    "\n",
    "となって、この状態変数表示のシステムは可観測であることが自明となる。"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "3fea72c5-6907-45be-9eda-658024c4aaaf",
   "metadata": {},
   "source": [
    "## 伝達関数が既約でない時？\n",
    "$$\n",
    "\\Sigma_{k=0}^{N+1} a'_k s^k = (s-\\lambda) \\left(\\Sigma_{k=0}^{N} a_k s^k\\right) = \\Sigma_{k=0}^{N}\\left(a_k s^{k+1} - \\lambda a_k s^k\\right)\n",
    "$$\n",
    "より、\n",
    "$$\\begin{cases}\n",
    "a'_0= -\\lambda a_0, \\\\\n",
    "a'_k=a_{k-1}-\\lambda a_{k} \\quad\\left( 1\\le k \\le N\\right), \\\\\n",
    "a'_{N+1} = a_{N}\\\\\n",
    "\\end{cases}\n",
    "$$\n",
    "$$\n",
    "{C'} = \\begin{pmatrix} b'_0 - b'_{N+1} a'_0,&\n",
    "b'_1 - b'_{N+1} a'_1,&\n",
    "\\cdots, &\n",
    "b'_{N}-b'_{N+1} a'_{N}\\end{pmatrix}\\\\\n",
    "$$\n",
    "$$\n",
    "{C'} = \\begin{pmatrix} \\lambda b_0 + b_N \\lambda a_0 ,&\n",
    "  b_0 -\\lambda b_1 - b_{N} (a_0 - \\lambda a_1),& \\cdots, b_{N-1}-\\lambda b_{N} - b_{N}(a_{N-1} - \\lambda a_{N})\\end{pmatrix}\\\\\n",
    "$$\n",
    "$$\n",
    "{A'} = \\begin{pmatrix} 0,& 1,& 0,& 0,& \\cdots&, 0\\\\\n",
    "   0,& 0,& 1,& 0,& \\cdots &, 0\\\\\n",
    "   \\vdots& \\vdots& \\vdots& \\vdots& \\ddots& \\vdots\\\\\n",
    "   0,& 0,& 0,& 0,& \\cdots&, 1\\\\\n",
    "   \\lambda a_0,& -a_0 + \\lambda a_1,& -a_1 +\\lambda a_2,& , -a_2+\\lambda a_3,& \\cdots &, -a_{N-1}+\\lambda a_N\\\\\n",
    "   \\end{pmatrix}\\\\\n",
    "$$\n",
    "$$\n",
    "{B'} = \\begin{pmatrix} 0\\\\ 0\\\\  \\vdots \\\\ 0\\\\ 1\\end{pmatrix} \\\\\n",
    "$$\n",
    "$$\n",
    "B',A'*B', ...\n",
    "$$\n",
    "を考えると\n",
    "$$\n",
    "\\begin{bmatrix}0\\\\0\\\\0\\\\\\vdots\\\\1\\end{bmatrix},\n",
    "\\begin{bmatrix}0\\\\0\\\\\\vdots\\\\1\\\\-a_{N-1}+\\lambda a_N\\end{bmatrix}\n",
    "\\begin{bmatrix}0\\\\\\vdots\\\\1\\\\-a_{N-1}+\\lambda a_N\\\\ -a_{N-2}+\\lambda a_{N-1}+(-a_{N-1}+\\lambda a_N)\\end{bmatrix}\n",
    "$$"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "0018cdc1-3ad1-4869-ad95-f39354fd5b45",
   "metadata": {},
   "source": [
    "## なぜプロパーでない伝達関数は状態方程式にかきかえられないのか？\n",
    "\n",
    "今見たように、プロパーなシステムでは、一次の微分方程式である状態方程式にかきかえられますので、ある時点での状態と入力値から次の状態を微分方程式から決定できます。インプロパーなシステムでは、階数がNより大きい入力の微分$u^{(m)}$が必要となります。\n",
    "これを、\"将来の入力値”が必要となると表現されますが、これについて少し考察してみます。\n",
    "\n",
    "伝達関数のラプラス変換を出力$Y(s)$について解いた式：\n",
    "$$\n",
    "Y(s) = \\frac{\\Sigma_{k=0}^{M} b_k s^k}{\\Sigma_{k=0}^{N} a_k s^k} U(s)\n",
    "$$\n",
    "の分母を因数分解をおこない、部分分数展開すれば、\n",
    "\n",
    "$$\n",
    "Y(s) = \\left( \\Sigma_{k=0}^{M-N} \\alpha_k s^k + \\Sigma_{k=0}^{N}\\frac{\\beta_k}{s-\\lambda_k} \\right)U(s)\n",
    "$$\n",
    "となる。これのラプラス逆変換を行えば、\n",
    "\n",
    "$$\n",
    "y(t) =  \\Sigma_{k=0}^{M-N} \\alpha_k \\frac{d^k u(t)}{dt^k} + \\Sigma_{k=0}^{N} \\beta_k \\int_{-\\infty}^{0}d\\tau e^{-\\lambda_k \\tau}u(t+\\tau)\n",
    "$$\n",
    "\n",
    "$ M \\gt N $の場合には、この式の右辺は、入力の微分項を含むことになる。\n",
    "このことから、プロパーでない伝達関数は微分を含むということになる。\n",
    "\n",
    "プロパーでない系では、上記の形式解の右辺に現れる微分$s$を不完全微分$\\frac{s}{1+T_D s}$などで置き換えるのが普通のやり方だそうです。\n",
    "\n",
    "$$\n",
    "\\frac{d y}{d t} = a_0 y + b_0 u +b_1 u' + b_2 u''\n",
    "$$\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "958643e8-a36a-4e40-bc7b-b827512a94dd",
   "metadata": {},
   "source": [
    "## 不完全微分 $\\frac{s}{1+T_D s}$ と単純な微分回路\n",
    "\n",
    "抵抗　$R$ と　コンデンサ $C$ で構成される微分回路のインピーダンスは $\\frac{R}{R+ \\frac{1}{j C \\omega}}$ です。これをラプラス変換に書き直せば $\\frac{R C s}{1+R C s}$ と不完全微分の形になります。"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1918d5ab-197c-4d89-b9d7-a84a194260a6",
   "metadata": {},
   "source": [
    "## 伝達関数と状態表示の関係。\n",
    "\n",
    "上で見たように、プロパーな伝達関数:\n",
    "\n",
    "$$\n",
    "Y(s) = \\frac{b_M s^M +b_{M-1}s^{M-1} \\dots b_1 s + b_0}{s^N+a_{N-1} s^{N-1} + \\dots + a_1 s +a_0} U(s)\n",
    "$$\n",
    "\n",
    "は、状態方程式表示:\n",
    "\n",
    "$$\n",
    "\\left\\lbrace\\begin{aligned}\n",
    "\\frac{d X}{d t} = A x + B u \\\\\n",
    "Y = C X + D u\\\\\n",
    "\\end{aligned}\\right.\n",
    "$$\n",
    "\n",
    "に変換することが可能です。逆に、状態変数表示からは、\n",
    "\n",
    "$$\n",
    "Y(s) = \\left[C\\left(s I - A\\right)^{-1} B +D\\right] U(s)\n",
    "$$\n",
    "\n",
    "によって、伝達関数表示に移ることが可能です。この時、複数の状態変数が同じ伝達関数が実現されます。\n",
    "特に、 1入力1出力のシステムであれば、　$Y^T=Y, U^T=U, D^T = D$ ですから、\n",
    "$$\n",
    "\\begin{aligned}\n",
    "Y(s) &= \\left[C\\left(s I - A\\right)^{-1} B +D\\right] U(s) \\\\\n",
    "&=  \\left[B^T\\left(s I - A^T\\right)^{-1} C^T +D\\right] U(s)\n",
    "\\end{aligned}\n",
    "$$\n",
    "\n",
    "が成り立ちます。これは、もとの伝達関数のシステムは、\n",
    "\n",
    "$$\n",
    "\\left\\lbrace\\begin{aligned}\n",
    "\\frac{d \\hat{X}}{d t} = A^T \\hat{X} + C^T u \\\\\n",
    "Y = B^T \\hat{X} + D u\\\\\n",
    "\\end{aligned}\\right.\n",
    "$$\n",
    "と等価です。プロパーな伝達関数から構成される状態変数表示では、$A, B$ は可制御でした。これから転置行列を使った状態変数表示のシステムは、\n",
    "$A^T, B^T$ から構成される可観測行列のランクが状態変数の次元に一致することから、可観測ということになります。\n",
    "結局、プロパーな伝達関数を持つシステムは、状態変数表示に移ると、可制御かつ可観測なシステムで表現されることがわかります。\n",
    "\n",
    ".. note::\n",
    "\n",
    "   双対な制御システムは通常、信号の向きを逆転したシステムとして認識される。可制御性と可観測性が入れ替わるシステムとも言える。\n",
    "   \n",
    "   "
   ]
  },
  {
   "cell_type": "markdown",
   "id": "4abdff3c-3d59-4df9-90c4-7561bcef0f9e",
   "metadata": {},
   "source": [
    "$$\n",
    "{A_o} = \\begin{pmatrix} 0,& 0,& 0,& \\cdots&,0,&  -a_0\\\\\n",
    "   1,& 0,& 0,& \\cdots &, 0,& -a_1\\\\\n",
    "   0,& 1,& 0,& \\cdots &, 0,&-a_2\\\\\n",
    "   \\vdots& \\vdots& \\vdots& \\ddots& \\vdots& \\vdots\\\\\n",
    "   0,& 0,& 0,& \\cdots&,0,&  a_{N-2}\\\\\n",
    "   0,& 0,& 0,& \\cdots&, 1,& -a_{N-1} \\\\\n",
    "   \\end{pmatrix}\\\\\n",
    "   \\\\\n",
    "{B_o} = \\begin{pmatrix} b_0 - b_N a_0,\\\\ b_1 - b_N a_1,\\\\ \\vdots \\\\ b_{N-1}-b_N a_{N-1}\\end{pmatrix}\\\\\n",
    "{C_o} = \\begin{pmatrix} 0, 0,  \\cdots , 0, 1\\end{pmatrix} \\\\\n",
    "   \\\\\n",
    "{D_o} = b_N \\\\\n",
    "$$\n",
    "$$\n",
    "s*x_0= -a_0 x _{N-1}+ (b_0-b_N a_0) u\\\\\n",
    "s*x_1 = x_0 - a_1 x_{N-1} + (b_1 -b_N a_1) u\\\\\n",
    "\\vdots\\\\\n",
    "s*x_{N-1}= x_{N-2} - a_{N-1} x_{N-1} + (b_{N-1} - b_N a_{N-1}) u\\\\\n",
    "$$\n",
    "\n",
    "$$\n",
    "\\begin{aligned}\n",
    "s*x_0 &= -a_0 x_{N-1}+ (b_0-b_N a_0) u\\\\\n",
    "s^2*x_1 &= s*x_0 - s*a_1 x_{N-1} + s*(b_1 -b_N a_1) u \\\\\n",
    "&= -a_0 x_{N-1} - a_1 s x_{N-1} + (b_0-b_N a_0) u  + (b_1 -b_N a_1)s u\\\\\n",
    "&\\vdots\\\\\n",
    "s^{N-1} x_{N-2} &= s^{N-2} x_{N-3} - a_{N-2} s^{N-2} x_{N-1} + (b_{N-2} - b_N a_{N-2})s^{N-2} u\\\\\n",
    "&= s^{N-3} x_{N-4} - a_{N-3} s^{N-3} x_{N-1} +(b_{N-3} - b_N a_{N-3}) s^{N-3} u  - a_{N-2} s^{N-2} x_{N-1}\n",
    "+ (b_{N-2} - b_N a_{N-2})s^{N-2} u\\\\\n",
    "s^{N}*x_{N-1}&= s^{N-1}x_{N-2} - a_{N-1} s^{N-1} x_{N-1} + (b_{N-1} - b_N a_{N-1}) s^{N-1} u\\\\\n",
    "&= \\Sigma_{k=0}^{N-1} \\left( - a_k s^k x_{N-1}  + (b_k-b_N a_k) s^k u\\right)\n",
    "\\end{aligned}\n",
    "$$\n",
    "\n",
    "これより、\n",
    "$$\n",
    "\\Sigma_{k=0}^{N}a_k s^k x_{N-1} =  \\Sigma_{k=0}^{N-1} (b_k-b_N a_k) s^k u\n",
    "$$\n",
    "\n",
    "$y= x_{N-1}  + b_N u$にこれを代入すると、\n",
    "\n",
    "$$\n",
    "\\begin{aligned}\n",
    "\\Sigma_{k=0}^{N}a_k s^k y &= \\Sigma_{k=0}^{N-1} (b_k-b_N a_k) s^k u + \\Sigma_{k=0}^{N}a_k b_N s^k  u\\\\\n",
    "&= \\Sigma_{k=0}^{N-1} b_k s^k u+ a_N b_N s^N u =  \\Sigma_{k=0}^{N} b_k s^k u\\\\\n",
    "\\end{aligned}\n",
    "$$ \n",
    "ここで $a_N \\equiv 1$ を使ったことに注意しておきます。"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "d377fdc3-5954-4a5d-bb26-20d5363872e8",
   "metadata": {},
   "source": [
    "# 外乱オブザーバー\n",
    "測定値 $Y$ に定値の外乱 $d$ がある時、状態を拡大して、\n",
    "\n",
    "$$\n",
    "X_e=\\begin{bmatrix} X \\\\ d \\\\\\end{bmatrix}\n",
    "$$\n",
    "を考えると、状態方程式は、\n",
    "\n",
    "$$\n",
    "\\left\\lbrace\\begin{aligned}\n",
    "\\frac{d X_e}{d t} &=\\begin{bmatrix} A,& 0\\\\ 0,& 0 \\\\\\end{bmatrix} X_e \n",
    "+ \\begin{bmatrix} B \\\\ 0 \\end{bmatrix} \\begin{bmatrix} u\\\\ 0 \\end{bmatrix}\\\\\n",
    "Y &= \\begin{bmatrix} C,& 1 \\end{bmatrix} X_e + D u \\\\\n",
    "\\end{aligned}\\right.\n",
    "$$\n",
    "\n",
    "このとき、拡張された系 $A_e,B_e, C_e D_e$ は可観測だが、不可制御になってしまいます。それは単に外乱 $d$は推定可能だが、制御不能であることを言っているに過ぎなません。\n",
    "\n",
    "可安定性:\n",
    "   可制御ではなくても、制御不能なモードが安定であれば、システム全体を安定化させることはできる。このようなシステムを**可安定**なシステムとよびます。(「制御理論の基礎」page. 187)\n",
    "   \n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 79,
   "id": "15eefba3-ae4a-48e7-a6d0-6c790e8277a8",
   "metadata": {},
   "outputs": [],
   "source": [
    "#pip install -U graphviz\n",
    "#https://h1ros.github.io/posts/introduction-to-graphviz-in-jupyter-notebook/\n",
    "import graphviz"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 80,
   "id": "2df3127f-c885-451b-9201-b0dc65d02182",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'doctest-output/splines.gv.pdf'"
      ]
     },
     "execution_count": 80,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "n = graphviz.Digraph(name='splines', engine='neato',\n",
    "                     graph_attr={'splines': 'true'},\n",
    "                     node_attr={'shape': 'point'})\n",
    "n.node('a', pos='0,0!', color='blue')\n",
    "n.node('b', pos='100,0!', color='green')\n",
    "n.node('c', pos='50,50!', color='red')\n",
    "n.edge('a', 'b', pos='0,0 30,66 70,60 100,0')\n",
    "n.render(neato_no_op=2, directory='doctest-output').replace('\\\\', '/')"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "0f35c4df-016f-4cd7-b76c-b81e22b74960",
   "metadata": {},
   "source": [
    "# モデルマッチングによるゲインチューニング(Pythonによる制御工学入門)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "c4784b9c-4bba-42c2-b721-a985f35e37ec",
   "metadata": {},
   "source": [
    "「Pythonによる制御工学入門」のモデルマッチングによるゲインチューニングの結果だけを確認してみましょう。\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 81,
   "id": "dd020f4e-f2da-4716-b8c4-582f60e2f8a7",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "            1\n",
      "--------------------------\n",
      "0.01 s^2 + 0.015 s + 0.981\n",
      "\n",
      "[-0.75+9.87610753j -0.75-9.87610753j] [] 1.019367991845056\n"
     ]
    }
   ],
   "source": [
    "# model: Python による制御工学入門」　リスト 5.1 144ページ\n",
    "g=9.81\n",
    "l=0.2\n",
    "M=0.5\n",
    "Mgl=M*g*l\n",
    "mu=1.5e-2\n",
    "J=1.0e-2\n",
    "ref=30 \n",
    "\n",
    "num_delay,den_delay=control.pade(0.005,1)\n",
    "Plant5=tf([1],[J, mu, Mgl])\n",
    "Plant5d=tf([1],[J, mu, Mgl])*tf(num_delay,den_delay)\n",
    "print(Plant5)\n",
    "print(Plant5.poles(),Plant5.zeros(),Plant5.dcgain())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 82,
   "id": "8b9e20e2-3a24-4753-bd1a-1302df84e6f5",
   "metadata": {},
   "outputs": [],
   "source": [
    "#リスト　5.15　page. 169-170\n",
    "omega_n=15\n",
    "zeta=0.707\n",
    "Msys=tf([0,omega_n**2],[1,2*zeta*omega_n,omega_n**2]) #規範モデル\n",
    "#\n",
    "kp=omega_n**2*J\n",
    "ki=omega_n*M*g*l/(2*zeta)\n",
    "kd=2*zeta*omega_n*J+M*g*l/(2*zeta*omega_n)-mu\n",
    "#PI-D制御\n",
    "Kpi=tf([kp,ki],[1,0]) #　　D制御\n",
    "Kd=tf([kd,0],[1]) # PI制御\n",
    "# PI-D制御\n",
    "Gyr=control.feedback(Plant5.feedback(Kd)*Kpi,1)\n",
    "#無駄時間を考慮したモデルの場合。係数はsympyによる結果を使った\n",
    "kp_d,ki_d, kd_d=2.26963406250000, 10.4066478076379, 0.240297605658946\n",
    "Kpi_d=tf([kp_d,ki_d],[1,0]) #　　D制御\n",
    "Kd_d=tf([kd_d,0],[1]) # PI制御\n",
    "Gyr_d=control.feedback(Plant5d.feedback(Kd)*Kpi,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 83,
   "id": "5d853a2c-06a2-463d-ab63-3d3fcb8888ba",
   "metadata": {
    "slideshow": {
     "slide_type": "fragment"
    }
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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7JwYechhTOvUlavuQn5aP17P5UdWTGbDZ5QAZ3gyGFA3ZYnuaL40uOV222J4bzGWHoh222N4rvzu98rtvsX0XevNbjths28EAHELcXU04FqYuWkcoGqIuWkfbnO78Fw8zS+cye+Xe1FStpKquktrQWuoi1UwbPoRLCnbny/IoK8qX4wmvot5FqCGCxeNEPEHKw8YSN4W5gSm44A/7LQjFOH/u8/T6uidpnZ/Glz1rg1xdIhFeWFrOLjyFr/3TZAdmkROvJ4CXgPPSMZ7O0dGBfNjtEhbUv01O3bfkxMMEvemkedMoChSyQ95wajvvyaKab0mrW06m10taWhYZ6dkUZLWjR2Ev/IEg5aFyvB4vAU+AgDeAx1Ssi4hsz7ZaODvnPjWz7j+yypHAU845B4w3szwz6+CcW9FYIUWayqrqlbw37XWWLpzArmUerq//NSuyr8cbXE26i9MtDoNj2bTN2IHY7ofzwbDRdG1zCH7vj001KGyy/KngMQ/pvnTSfembtO3Qth87tN30YlMAOwPH0Rc4e7PtLwCwL845ovEotdFaqmorqapew6p4Bu+kdWBaaRFrVk6ivrqYunAVoWg1AWJ8060Lxxd14dvq/gRrSvDHy4gQI0IEYiHyyr7hpZJi4u0/JZC2iKgHiCb+jaoIseuU1zm2/iYye92MJ7Bmg1z71NRyxso8jo1eT3rv6zBvzQ+vhYN9ajzsXzOEZ/LOZ37gr+TG1hDA4cWDBw/DI/nsFNibqW3H8L+qG2kTXokP8JoXj8fHTr7u7FhwICWFg3lnxcNk1yzH6/HiNR9ej5ehGf3o03YP1ma159MVr5Netxqvx4vH68Pn8bFD3kB6FA6l2u9n/MqP8UVr8Hp8eL1+/D4/OxbuQOfcHlRFa5m0agJe+37fHjweLwPaDKAoo4jKcCWz18zGYx4Mw+vxYhg983qSE8ihMlzJ0qqlABhGww165PQgw59BRaiCFTWJPwOJLyYT63XL6UaaL42KUAUldSUbPN7M6JrdFb/XT0WogjXhNRu2Y3TJ7oLX46UiVEFVfdW6/X7f3imrE2ZGZbiSmsgPffO9jlkdASgPlVMXrdugzWMe2me2B2BNaA2haGiDdq95aZfZDoCyujLqYxue/tXn8VGUUQRAaV0pkVhkg3a/109heuL3QUltCdF4dIP2gDdAQXoBAKtrVxN38Q3ag94g+WmJU26tqlm1wbdMAGneNPLS8gBYWbNyk+ee7ksnN5iLc45Vtas2ac/wZ5ATyCHu4qyuXb1Je5Y/i6xAFtF4lNK60k3aswPZZPozicQjlNWVbdKeE8ghw59Bfaye8lD5Ju25wVyC3iDhWJiKUDmJsgJw4IC8YC5BXxqhWD2VoXJoeH2+Xy8vmIffl05dLERVeC3EIhu8RvnBNvj86dTFwlSHK2Fd/zmcg/xgPj5/JtWxOmob2t16L3GbtHw8gWxqorXUhitxkYb5bS6xl8K0Aiwtm+pIDXWh9bbfsJHCtAII5lAVqSEcLof13h+GUZDWBoK5rI1UUR+u2KDdax7yg/mQlsfa+koioUpY7/3jNS95wTxIy6UyXEE0XAnx2Lp2n8dLbjAfgjlUhMuJhSrXvX4Afo+PnGA+BLMpD5cTD1USjUUI1yd+BswMj3nBPMRcbINt/+J2A583iNdjm7wnmqPGmOPcCVi63v3ihmUqnKVFeG3Oe7w59RkWVk9jtTfxi6pTJMq5ZdX073oSu7T/HaPa+Nmz3zDy89umOG3rY2b4vX5yvbnkBnMhvyuQOOl+33a7wKBdNvu4PYEfO8X+NAAOIhaNUl1TwdrqNaytWUMkHMbjyealzO7Mq7gJt3ICsboS6iN1RGJ1ZHmNkrxenFfQk5lVJ9G5/CO80QpiLkqMKN2iHmLeDOIOAtGe9IiswUOEOHHiODrWriG2Mp1nF+2IdSwn14qJmSNqEMPIrZrKyhnFXBU/mcxen5BvlcTMiAERM3oueotv/jee6+1wsno/uMnzumryGqau2Z87vHuR2fPOTdqvKynjxfIxPBzYkczu92/SfsuqUj5fO5YX0rsR6PzoJu23r6jg3dAZvJOZg2v75Cbtdy+v5fXYeXyeFSGU/+wm7Q8Wh3jKfsekrBJCuS9v0v700hB3eq5ievZ8wjlvbtL+0uJa/uK9lu9yJ1Of/f4m7W8trOWiwI0U535EJOt/G7T5nOM/i+o4JXAHpfmvE834eoP27JjjtSU1HOV/kNqCJ4mlf7tBe9tonKeW1nOU/37qCx8gnrbhFYO718e4c5lxgu9O6tvejQsu2qB9UCjKX1akc4r3JiLtb4HAhn8md66LcMHKPM6064h3+jv4N/zQtldNmBNXd+B8/gRd/wreDa9EfEhViANKuvM7dznW8yrMNixejq2sZWjpAK5y5+Hr/cdNXrvTyqvpvGYY1/BrAr2u3aT9wjVr8a/ZjRs9h5PW88ZN2n9fWkFFxf7c7d2T9B53bNL+t9VrmFt5BA/5N//eu21VCZ9WjuXZtG5kdH1sk/YHVq7mpcozeCMzn/TOz2zS/vTyldxXdSEfZntI7/jiJu0vFa/gbzW/Z0LuWtLaj9uk/T9Ll3FhzTXMarOUYNt3Nmn/dHExv6q7iaWF036YgraeSQuXsHfoHta0+5xAmy82aPM5xzeLlrJj6GHqO7yNP2/SBu05sRifL1lGz9AzBDr9G3/O9A3aO0SjvL6klAHhJ0jv8ii+rHkbtPeur+fh4lpGhB8go9t9eDOWbNC+YyjM/y1z7F1/Jxk97sSbtuEHq13r6vjd8gwOrf8Hmb1uwhMo586Bd+JZmxgUyo7HKYj4+M51wBNcgdmGH+ry4jGyIwEWufZ405Zt8tq0icVIj6axxLXdpN3nHOnennRtk7HJ45ojc27rl/FuGHF+cwtznN8EbnTOfdZw/wPgD865TS4LaGbnAOcA9C0oGD7noot+WXqRnyhKnKmBMt5MX8K+a3w8Ej2ILwunk5X/BaNCNXSpy6NXXRdG1Xejm2WtGykT2VbizhEh3vDPESVOvfMRJpM4hpcSYjgc8Yb/HSGyqXb5hCxKln1HHEeMODFLHLwZindktWtHta+STjYjUbSbI06c7JiH8lhfiq0jtf5V9LYpxO37OfJxiiIBVsYGs9DaURdcQl/Pt8RxgCNujm6hAAtjI/nO04ZI2jz623S+f7SZo3coyLeRvZjvy8ETnM0gT+Ijimv4URpQF+DryAEs8AcJps2kryVmyH8/MjikNsin0UNYEjDSg9Po6Zm/wes1vCaND6KHUxwMkxmcRldbtMH2d61K5+3YUaxIqyQn+C2drHjdYw3YvSqD12LHsip9NQWBqbS3H4pXnzN2qc7gldgJlKQX0zYwlSL7YeQ1GDeGVWczLn4sqzMW0d4/lTb8UNymxz0MrsnnnfgYVmYuoJNvKrlUrGvPinnpW1vIh/FDWJ41ny7eb8mial22vJiXrrXt+Ty+P0uz5tDNO410vh81NwqiPjrUdeLr+F4szp5FL880At8f1YvRNuKjoK4b37hdWZgzgz42HR8/jFp2iATIruvJNLcTC3Nm0tem4yG27vGd6wOkhfowg0EszJ5NP880WG/EtnsoDU+4P3PoxeLsOfT2zNigb3qF0oiFBzLPulKcNZseng0/WPStSydcP4j5nvasyJpNV9uwb/vXZlAdGcJCXz6rMmbT2RZu0D6oNpOKyFAW+jIpy5hDB1u8QfuQmmxKojux2O+nPH0ubdfre4CdqrNZGRvOooCjKm0uBbbhB5eRVbksje/M4mCYmuA88m3Vur4B2LUqjwXxkSwJVhEKziPXNhxV32NtPvPcKBanrSEcmE+O/fDeMGCvtQXMdruwOH0VMf93ZNoPo+4+Z+xe1YaZbjcWZxSD/zsyWLuuPRj3MKq6kFluVxZkLsLrW0B6w3sHIDPuZVh1EXPcKOZnLiDo+44gP3ywyon5GFzTjvluBHOy5pPpXUBgveNS8qN++tV2YIHbiVnZc8n1LGD/PS+lW/eO6/IF4wHqSafOG8JLGFvvveF3RiAepJ40ar0h/IRhg3YP/niAetKo89bhp35du2FkxrLJ3qgYbyrT16ypHTx48KwttU+dOrVwyJAh3b+/3xiF84PAx865ZxvuzwFGb22qxogRI5wuuS1NIRKPMH7ZeF6Y+BhfV35DrcXwOsdTy1bxQcblBIaOYe/eRQzs2AbPj065EBERaR02ueR2iqxatYpLL72U8ePHk5+fTyAQ4Morr+RXv/pVo2x/+vTptb/5zW/it95669K99tqrduP2jQvnxpiqMQ64yMyeI3FQYKXmN0uqxV2c2voaildU8eDUr3i/4q9kxePsVROmd7wL/bocQZfDTuTSog6pjioiIiKb4ZzjqKOO4rTTTuPf//43AIsXL2bcuE2n2mxONBrF52vcMy8nczq6Z4HRQKGZFQPXAH4A59wDwNskTkU3n8Tp6JruuociG1levZznpv2b1+e+yG5razl0dQ5vxP7Ijn0v5uJO2Yzc7RAysnJTHVNERKRFOeO/m5Z3B3U/iLH9x1IXreOC9y/YpP3I3kdyVO+jKA+Vc9nHl23Q9vjBj291nx9++CGBQIDzzjtv3bJu3brx29/+lr322ou7776boUOHArDHHntw77338uqrr/Ldd9+xYMECunbtyrPPbnqsRV1dHWeccQZTp06lffv2wVAoFNpkpS1I5qwaJ26l3QEXJrtDkW3h46Uf89DX9zK9ajbg2CUUYnA4G/8OR/H1YQfSJjOQ6ogiIiLyE8yYMYNhw4Zttu3MM8/kiSee4M4772Tu3LmEQiGGDBnCq6++ysyZM/nss89IT9/0bE8A999/PxkZGcyaNYuXXnqpfuzYsZnJZtKVA6XFqo3UEsDHOzNW8vcJzxGzhZxZXU1v78702+tieg/ZI9URRUREtgs/NkKc7kv/0fb8tPykRpi35sILL+Szzz4jEAjwySefcP3113PLLbfw2GOPcfrpp69bb8yYMVssmgE+/fRTLr74YgD69+/v+vbtu8nc5i1R4SwtzqqaVTwy5SFem/8KNy2v5cOqo/AXjOHCnS9kzJBOZOe2SXVEERER+YUGDRrEyy//cNrKe++9l9LSUkaMGEFGRgYHHHAAr7/+Oi+88AKTJv1wir/MzKQHkH8yXeZKWowV1Su45tO/cPCLB/LivOfZr7oS58lj7AG78OGlh3DSXjuoaBYREdlO7LvvvoRCIe6//4fzftfW/jA4fNZZZ3HxxRez8847k5+fn/R299prr3UHG86dO9fmzp2b9EmkNeIsLcLaUB1HvXo84VgFR1VVs1u4J133uor+Iw9IdTQRERHZBsyM1157jUsvvZSbb76ZoqIiMjMzuemmmwAYPnw4OTk5nHHGTzsvxfnnn88ZZ5zBgAED6NChQ2DgwIGbXmZ0S5mSOY/ztqDzOMvWVNVX8cqcl+k9fQV/mj+IYpvHCQXG6aOG0XfY6FTHExER2W41l/M4/5jly5czevRoZs+ejcfz8yZRTJ8+/SddAEUjztLsRGIRnp/9HPdOvofqeB1PL1/J2OyL2Pmo3zKiu6ZiiIiItHZPPfUUV199NbfffvvPLpp/DhXO0qx8sfwL/vbpX1keXsWouhAnlfuxUfdw3ujjsSb8wRAREZHm69RTT+XUU0/90XXeeecd/vCHP2ywrEePHrz66qs/e78qnKXZKK+t5bIP/kJGqISb11SR3/Uchv/mcvyBYKqjiYiItDrOOcws1TF+toMOOoiDDjroZz8+Ho8bEF9/mQpnSalYPMbLc1+i68K13DA5h9X1p3DuoPbsdsxwctsUpTqeiIhIq5SWlkZZWRkFBQUtunj+ueLxuJWUlOQC09dfrsJZUmZB5QL+8MEVzK6axw0lZZzuOYjeZ93B0C55qY4mIiLSqnXu3Jni4mJKSkpSHWWbWrlypS8WixVupikOTI9Go2etv1CFszS5WDzGkzOe5J7Jd5ERi3J96VradjyHnU/4Ez6/Lo0tIiKSan6/nx49eqQ6xjY3cODAac65Ecmur8JZmtyf/3c9by56mX1rajmuqiO9xr5Ch279Uh1LRERE5EepcJYmUx8N8943i3jzsx4EfL/i+O7Z7HruZXi83lRHExEREdmqpApnMzsYuAvwAo84527cqL0r8CSQ17DOVc65txs3qrRUNZEarv3fX1kz/0t+W1xL/3Z3cfMJx9KjcNtdS15ERESksW21cDYzL3AvcABQDEwws3HOuZnrrfZn4AXn3P1mNhB4G+i+DfJKCzOjbAaXvncxq0KrOLdmLTXdT+C5U3fH69OXHSIiItKyJFO9jATmO+cWAJjZc8CRwPqFswNyGm7nAssbM6S0TC/PeYkbxl9PQTTCbavDdNj7AQbtdmiqY4mIiIj8LMkUzp2ApevdLwZGbbTOtcC7ZvZbIBPYf3MbMrNzgHMAunbt+lOzSguyfG0pfx9/GwNrY1ywtj0DznyaNm07pTqWiIiIyM/WWN+Xnwg84Zy7zcx2BZ42s8HOuQ2utuKcewh4CGDEiBGukfYtzUh5qJyq4mVcOG45lZXnsv/u/dh1v5E6AFBERERavGQK52VAl/Xud25Ytr4zgYMBnHNfmlkaUAisboyQ0jJ8W/ItF75zLmNLVnHq2mF0POUBdu+9uXOKi4iIiLQ8niTWmQD0MbMeZhYAxgLjNlpnCbAfgJkNANKA7ftSM7KBdxe+y+lvn0JmqIIBoSx2P+0GFc0iIiKyXdnqiLNzLmpmFwHvkDjV3GPOuRlmdh0w0Tk3DrgceNjMLiVxoODpzjlNxWgFnHM8MvUh7p76T4aEwpxZ3ZdRv/0XGVm5qY4mIiIi0qiSmuPccE7mtzda9tf1bs8Edm/caNISTFk1h3um3Mc+NWGOyzyKPc6+EfMk80WGiIiISMuik+nKzxJ3cZYXL+Xy51cQrr2Qgw7alT1H7ZDqWCIiIiLbjApn+ckqw5WcNe5Ufr1wGmPqDmG3U69nZI82qY4lIiIisk2pcJafpKS2hNNePYGVkdXUW4CjTzybriqaRUREpBVQ4SxJW1q1lNNeG0t1tII/lQbZ97R3dFETERERaTVUOEtSyurKOP61E/FGKvjTmjz2P/dNsnLyUx1LREREpMmocJatcs7x1GellK0cxdjcIg6+8GLS0jNSHUtERESkSalwlh81u3QWM178O7OW9mbMTqfy16N3wOfV6eZERESk9VHhLFs0q3Qmv3nj13Tz1nJR11x2O2ZHPB5LdSwRERGRlNDQoWzWzJIZnPHGr8mKhznRRrP7OfeoaBYREZFWTYWzbGJm6Ux+8+ZJ5MTD/JbRjDnzAV0NUERERFo9TdWQDcTijov/czsWM35r+3DEmfelOpKIiIhIs6DCWdaJRaPc8PyHzJ95OGftdRpHHLJnqiOJiIiINBtJff9uZgeb2Rwzm29mV21hnePNbKaZzTCzfzduTNnWVlev4vzHRnPy/LP5496d+bOKZhEREZENbHXE2cy8wL3AAUAxMMHMxjnnZq63Th/gj8DuzrlyM2u7rQJL46uoK+fUF45gjb+Gr7scxLkHj0h1JBEREZFmJ5kR55HAfOfcAudcPfAccORG65wN3OucKwdwzq1u3JiyrdREajjlucNY7anl/MiOjD39gVRHEhEREWmWkimcOwFL17tf3LBsfX2Bvmb2uZmNN7ODGyugbDuRWITTnj2apbaWc+t6cfpZ/9LZM0RERES2oLEODvQBfYDRQGfgUzPbwTlXsf5KZnYOcA5A165dG2nX8nPd/79vmB2u4Zj4EM4+5ykVzSIiIiI/IplKaRnQZb37nRuWra8YGOecizjnFgJzSRTSG3DOPeScG+GcG1FUVPRzM0sj+OTNZ3jgv0sZFbiJv5z1NB6vN9WRRERERJq1ZArnCUAfM+thZgFgLDBuo3VeIzHajJkVkpi6saDxYkpjuuXVy/h44V+4segt7jtpF3xejTSLiIiIbM1WKybnXBS4CHgHmAW84JybYWbXmdmYhtXeAcrMbCbwEfB751zZtgotP9+T79/G05Xvssifw+izbyHo00iziIiISDLMOZeSHY8YMcJNnDgxJfturf7z9XP8ecYN9IjAPWPeoEP7HqmOJCIiIpIyZjbJOZf0eXh15cBWYmLxHK6f/nfaxuNcN/oJFc0iIiIiP5Emt7YClbURLn/1I2rjOfxp6I0M7Dsy1ZFEREREWhyNOG/nQrXVvPDAjawo24VHTnuJPft2SHUkERERkRZJI87bsWgkwp+ePIAc9ziP7WfspaJZRERE5GfTiPN27KbHf8V7GdV4s3bjhH0PS3UcERERkRZNI87bqYf/fQkvBBYxNJrPTSc/n+o4IiIiIi2eCuft0ItfvcOj4ffpEvVz/0lv4TF1s4iIiMgvpYpqOzNvVRXXffY5UZfN3Uc8R1ZadqojiYiIiGwXVDhvR9asXs7jj/6TYN1e/OvwcfRs1y/VkURERES2Gzo4cDsRDtVy9/NHcIit5MRjP6Rf27apjiQiIiKyXVHhvB1w8Tj3PnoUL+fUU9Nuf27pr5FmERERkcamqRrbgWefvpBnMpfT3xXwj2MfTXUcERERke2SCucW7s2Px/Fo9GNy434eOuEVfB59iSAiIiKyLSRVOJvZwWY2x8zmm9lVP7LeMWbmzGxE40WULZm6tIIrJ39MmTfIXYc8Tn56m1RHEhEREdlubbVwNjMvcC9wCDAQONHMBm5mvWzgEuCrxg4pm1q59DtufvIF8uoP46ED/s2OHYamOpKIiIjIdi2Z7/VHAvOdcwsAzOw54Ehg5kbrXQ/cBPy+URPKJmqqKnj/+aP5g6sk7eSv6dtJZ9AQERER2daSmarRCVi63v3ihmXrmNkwoItz7q0f25CZnWNmE81sYklJyU8OKxCLRnnrkaO5vTDGPf13oW9nFc0iIiIiTeEXHxxoZh7gduDyra3rnHvIOTfCOTeiqKjol+66VXrvkXN5IGcFeZbNrWMeTHUcERERkVYjmcJ5GdBlvfudG5Z9LxsYDHxsZouAXYBxOkCw8X3wxhM8bf9jrTfA/Yc/QW4wN9WRRERERFqNZOY4TwD6mFkPEgXzWODX3zc65yqBwu/vm9nHwBXOuYmNG7V1+/K7Mn47dwrewiA37/EP+hXoIiciIiIiTWmrhbNzLmpmFwHvAF7gMefcDDO7DpjonBu3rUO2dku/m8Gfnp5Bh5xDuXDXAzik16GpjiQiIiLS6iR1tQzn3NvA2xst++sW1h39y2PJ9yrLVrHw+WO5zYIUnvo5XQszUx1JREREpFXSZeaasfpwmG8fPoa/tjN65g3gMRXNIiIiIimjS243Uy4eZ8IDp3N//mqqfWlcvd8NqY4kIiIi0qppxLmZ+vS52/jAO55paVncOfoWeuX1SnUkERERkVZNhXMz9N7MVVyxpJR4hyzOHnw2+3XbL9WRRERERFo9Fc7NzNxZU7niuSV0bLcbo/sXctGwi1IdSURERERQ4dysrF62CO+LR3GTbyDDTnmZtjlHpjqSiIiIiDRQ4dxM1FZXUvrYr/hbuyBFHTtycE5aqiOJiIiIyHp0Vo1mIBaNMvu+E/h3fgUz0/z8asjYVEcSERERkY1oxLkZGP/Y5SzxTuP17Dacu+O57NdVBwOKiIiINDcqnFPs318t4YGVuVR2LWCvzntywdALUh1JRERERDZDUzVSaMI3U/nL69Mo6tyPoe2GceOeN+IxdYmIiIhIc6QR5xRZPGsSvV8/nD9nH8Oxv76DrOCvMbNUxxIRERGRLVDhnAKlyxfjfWEsf2ybS69B7clO86c6koiIiIhsRVLzAszsYDObY2bzzeyqzbRfZmYzzexbM/vAzLo1ftTtQ1XlGiofPYpn82J8numnU9ueqY4kIiIiIknYauFsZl7gXuAQYCBwopkN3Gi1b4ARzrkdgZeAmxs76PagPhJjwX3HMTWthKfyMjm+7/Gc2P/EVMcSERERkSQkM1VjJDDfObcAwMyeA44EZn6/gnPuo/XWHw+c3JghtwfxuOPKl79leXQQ8zqWMqr9zlw16irNaxYRERFpIZKZqtEJWLre/eKGZVtyJvCfzTWY2TlmNtHMJpaUlCSfcjvwyGv/4bUpy+mw0450y+3BbaNvw+/R3GYRERGRlqJRDw40s5OBEcDem2t3zj0EPAQwYsQI15j7bs7G//sGfjPnVmzwvZx12JlE3WkqmkVERERamGRGnJcBXda737lh2QbMbH/gamCMcy7cOPFavq9fvZsh827l15170223QsxMRbOIiIhIC5RM4TwB6GNmPcwsAIwFxq2/gpntBDxIomhe3fgxW6bJbz/G0Cl/5YL2vZgdqMfj9aY6koiIiIj8TFstnJ1zUeAi4B1gFvCCc26GmV1nZmMaVrsFyAJeNLMpZjZuC5trNcZ/9TmDv7qCP7XtycS0ev4w8g/s323/VMcSERERkZ8pqTnOzrm3gbc3WvbX9W6rIlzPF/NLOf2NSvbosB8TsmZzxqAzOGnASamOJSIiIiK/gK4c2Mimf/YGN7+zjG4F/ek+dBgdXF9+N/x3qY4lIiIiIr+QCudG9O3HL9P3o3O5KtiPnmd9QFHW3sRdHI8ldYFGEREREWnGVNE1kikfPEf/j87hXzkd+VPvAGFXgpnh9eiAQBEREZHtgQrnRjD5P48z8NMLeCK3C3cXGj3ze1GUUZTqWCIiIiLSiFQ4/0JPfLaA8i+e5P78ntxTEGNUh1Hcve/dpPnSUh1NRERERBqR5jj/TPFYjDvfmszdX6xmVP+jmGmPMrrzaG4dfStBbzDV8URERESkkalw/hlqqyuZ9eBp7Fe5mKqRj3DZYaN5ZnaQs3Y4S1cFFBEREdlOaarGT7RswSxW3r4X/ao+4elePbj8sL5kBzM5f8j5KppFREREtmMqnH+CqR++QNZT+xH2lHFiv515z75jwqqJqY4lIiIiIk1AhXMS6upjXPPqFIIfX8fbmYX8pkdnylw1d+9zN/t03SfV8URERESkCWiO81bM/PI//OHzGNNKjdVDj+ez8IsMyOnKbaNvo0t2l1THExEREZEmosJ5C0qXL2bRc5czYu17jPEdxVVn3Ub39kN5dlYGvx32W505Q0RERKSVSWqqhpkdbGZzzGy+mV21mfagmT3f0P6VmXVv9KRNpHTlEsbffy5ZDw7HG/ofx3UbwsSdg+zeu5BOWZ24YucrVDSLiIiItEJbHXE2My9wL3AAUAxMMLNxzrmZ6612JlDunOttZmOBm4ATtkXgbaE+HOKrxZU8P3EZe8z5CzmZkzmpSy/m+mvJD8KRXfbCOYeZpTqqiIiIiKRIMlM1RgLznXMLAMzsOeBIYP3C+Ujg2obbLwH/NDNzzrlGzPqLOef4avYsFi/+D+G6SsLli/GuXUyb+oU8sPYClvuGEum3E19EltApK5/L+p3HcX2PIyuQleroIiIiIpJiyRTOnYCl690vBkZtaR3nXNTMKoECoLQxQjamG15+msVd3kzc8QL5ADmcMcTPBfvuT3V0OPPKD2Nk+5F4Pd4UJhURERGR5qRJDw40s3OAcwC6du3alLv+fv9cOuYkyso6k5GRR1GHHmRm5OD3+Oma05U0n5c0fyGF6YVNnk1EREREmrdkCudlwPrnXevcsGxz6xSbmQ/IBco23pBz7iHgIYARI0akZBrHfjsOBganYtciIiIi0oIlc1aNCUAfM+thZgFgLDBuo3XGAac13D4W+LC5zW8WEREREfkltjri3DBn+SLgHRKzgh9zzs0ws+uAic65ccCjwNNmNh9YQ6K4FhERERHZbiQ1x9k59zbw9kbL/rre7RBwXONGExERERFpPixVMyrMrARYnJKdQyHN8Iwfsk2or1sH9XProb5uPdTXrUcq+7qbc64o2ZVTVjinkplNdM6NSHUO2fbU162D+rn1UF+3Hurr1qMl9XVSl9wWEREREWntVDiLiIiIiCShtRbOD6U6gDQZ9XXroH5uPdTXrYf6uvVoMX3dKuc4i4iIiIj8VK11xFlERERE5CdR4SwiIiIikoTtunA2s4PNbI6ZzTezqzbTHjSz5xvavzKz7imIKb9QEv18mZnNNLNvzewDM+uWipzyy22tr9db7xgzc2bWIk5vJJtKpq/N7PiGn+0ZZvbvps4ojSOJ3+FdzewjM/um4ff4oanIKb+MmT1mZqvNbPoW2s3M7m54H3xrZsOaOmMyttvC2cy8wL3AIcBA4EQzG7jRamcC5c653sAdwE1Nm1J+qST7+RtghHNuR+Al4OamTSmNIcm+xsyygUuAr5o2oTSWZPrazPoAfwR2d84NAn7X1Dnll0vy5/rPwAvOuZ2AscB9TZtSGskTwME/0n4I0Kfh3znA/U2Q6SfbbgtnYCQw3zm3wDlXDzwHHLnROkcCTzbcfgnYz8ysCTPKL7fVfnbOfeScq224Ox7o3MQZpXEk8zMNcD2JD8GhpgwnjSqZvj4buNc5Vw7gnFvdxBmlcSTT1w7IabidCyxvwnzSSJxznwJrfmSVI4GnXMJ4IM/MOjRNuuRtz4VzJ2DpeveLG5Ztdh3nXBSoBAqaJJ00lmT6eX1nAv/ZpolkW9lqXzd8tdfFOfdWUwaTRpfMz3VfoK+ZfW5m483sx0aypPlKpq+vBU42s2LgbeC3TRNNmthP/XueEr5UBxBpKmZ2MjAC2DvVWaTxmZkHuB04PcVRpGn4SHylO5rEt0ifmtkOzrmKVIaSbeJE4Ann3G1mtivwtJkNds7FUx1MWp/tecR5GdBlvfudG5Ztdh0z85H4CqisSdJJY0mmnzGz/YGrgTHOuXATZZPGtbW+zgYGAx+b2SJgF2CcDhBskZL5uS4GxjnnIs65hcBcEoW0tCzJ9PWZwAsAzrkvgTSgsEnSSVNK6u95qm3PhfMEoI+Z9TCzAIkDCsZttM444LSG28cCHzpdEaal2Wo/m9lOwIMkimbNg2y5frSvnXOVzrlC51x351x3EvPZxzjnJqYmrvwCyfz+fo3EaDNmVkhi6saCJswojSOZvl4C7AdgZgNIFM4lTZpSmsI44NSGs2vsAlQ651akOtTGttupGs65qJldBLwDeIHHnHMzzOw6YKJzbhzwKImvfOaTmLA+NnWJ5edIsp9vAbKAFxuO/VzinBuTstDysyTZ17IdSLKv3wEONLOZQAz4vXNO3xi2MEn29eXAw2Z2KYkDBU/XIFfLY2bPkviwW9gwX/0awA/gnHuAxPz1Q4H5QC1wRmqS/jhdcltEREREJAnb81QNEREREZFGo8JZRERERCQJKpxFRERERJKgwllEREREJAkqnEVEREREkqDCWUREREQkCSqcRURERESSoMJZRERERCQJKpxFRERERJKgwllEREREJAkqnEVEREREkqDCWUREREQkCSqcRaTVMbMZZjY6Bfu91syeaer9iohI41DhLCKtjnNukHPu41TnaAwNxXjEzKrNrMLMvjCzXVOdS0Rke6TCWUSk5XveOZcFFAIfAS+mOI+IyHZJhbOItDpmtsjM9m+4fa2ZvWhmz5hZlZlNM7O+ZvZHM1ttZkvN7MD1Hvuxmf3DzL42s7Vm9rqZtWloG21mxVva10bL0xr2WdYwUjzBzNo1tOWa2aNmtsLMlpnZDWbm3drzcs5FgX8BncysaGvbMrPeZvaJmVWaWamZPb9evt0aMlU2/L/bRq/B9Wb2ecNr9q6ZFW6r5yUi0lyocBYRgSOAp4F84BvgHRK/HzsB1wEPbrT+qcBvgA5AFLj7Z+zzNCAX6AIUAOcBdQ1tTzRstzewE3AgcNbWNmhmgYZsZUB5Etu6HniXxPPuDNzTsJ02wFsNz6sAuB14y8wK1tvdr4EzgLZAALhiWz0vEZHmQoWziAj8zzn3TsOI7YtAEXCjcy4CPAd0N7O89dZ/2jk33TlXA/wFOP5njJxGSBSWvZ1zMefcJOfc2obR2UOB3znnapxzq4E7gLE/sq3jzayCRIF6NnCscy6axLYiQDego3Mu5Jz7rGH5YcA859zTzrmoc+5ZYDaJDxjfe9w5N9c5Vwe8AAzdBs9LRKRZUeEsIgKr1rtdB5Q652Lr3QfIWm+dpevdXgz4Scwv/imeJjGy/ZyZLTezm83MT6KQ9QMrGqY6VJAY8W77I9t6wTmXB7QDpgPDG5ZvbVtXAgZ83XCmkd80LO/Y8LzWt5jECPz3Vq53u5YfXp/GfF4iIs2KL9UBRERaoC7r3e5KYpS1FKgBMr5vaBiFLtrcBhpGs/8G/M3MugNvA3Ma/g8DhQ0j4ElzzpWa2TnARDP7N4kCf4vbcs6tJDFCjZntAbxvZp8Cy0kUuuvrCvw3iQyN/rxERJoLjTiLiPx0J5vZQDPLIDEH+qWGEeq5QJqZHdYwyvpnILi5DZjZPma2Q0NxvZZE8R13zq0gMe/4NjPLMTOPmfUys72TCeacm0NixPfKrW3LzI4zs84NDy0HHBAnUeT2NbNfm5nPzE4ABgJvbm3/2+p5iYg0ByqcRUR+uqdJHOi2EkgDLgZwzlUCFwCPAMtIjEAXb34TtAdeIlFczgI+adguJA7wCwAzSRS0L5E4EDFZtwDnmFnbrWxrZ+ArM6sGxgGXOOcWOOfKgMOBy0kcaHglcLhzrjSJfW/L5yUiklLmnEt1BhGRFsPMPgaecc49kuosIiLStDTiLCIiIiKSBBXOIiIiIiJJ0FQNEREREZEkaMRZRERERCQJKTuPc2FhoevevXuqdi8iIiIirdykSZNKnXObPd/+5qSscO7evTsTJ05M1e5FREREpJUzs42vkvqjNFVDRERERCQJKpxFRERERJKgwrmFKKsro7q+OtUxRERERFqtlM1xls2LuzjjV4znoyUfEfQGuWLnKwA4/o3jWV23mmx/Nn3y+zC83XD267YfgwoGpTixiIiISOugwrmZiLs4b3z3Bg99+xBLqpaQ7kvnyF5Hrmv/3fDfUVpXyrLqZcwoncFj0x9jbf3adYVzKBoizZeWqvgiIiIi2z0Vzs3ErRNv5emZTzOoYBA37nkjB3Q7gIA3sK79iF5HbLD+2vq11MfqAZi8ajKXfHQJvxn8G04ecDJ+r79Js4uIiIi0BiqcUywSj+D3+Dlj0BkMKhjEIT0OwWNbn3qeE8hZdzsrkMWgwkHcPul2Xpn3Cn8c+Ud267TbtowtIiIi0uro4MAUcc5x35T7OPe9c6mP1VOUUcRhPQ/bYtH8Y5dG75vflwf2f4D79rsPh+Pc98/l5gk3b6voIiIiIq2SRpxT5I7Jd/D49Mc5qvdRmNm65aHaauaMf5PQrPfIqZhF20gxB0ZupyyWzu+Cb3Cs5yNK03tQV7gD+YMPpM+wffD6Et24Z+c9GdVhFP/85p90yuqUqqcmIiIisl2yHxvJ3JZGjBjhWuuVAx+Z9gh3Tb6LE/qdwNWjrsbMWFFZx6dvPMXB8/9GLjXUuQCLAn2oyurBZ70ug2A2XVa8Q8+SDyiomU+XWDFec6ymDQ8NfZkTdu1Dn3bZm+zrnUXvEI1HOaznYSl4piIiIiLNl5lNcs6NSHZ9jTg3sXcWvcNdk+/ikB6H8KdRfyJUW80T70/izgl1dI776NNmBL4Rp9F31MEMSM8EYOS6R/cFfgtAZXkp8794jYWLFvDkhJU8Mn4Fd7R9mwF7/or+O+8PJKZ3vDr/VT5f9jmzymZx6fBL8Xq8Tf6cRURERLYHGnFuYnPWzOHxGY9z/W7Xs3DqF6S/cR4LowW8MugerjioH53zM37yNsuqw7z+xbcc9cXRtGEtU9NH0uboW+nSZwiRWISbJtzE83Oe58BuB/KPPf+xwdk6RERERFqrnzrirMK5iTjnNpjL/PWr9zB0yjWUWx4l+9/J4D3G/OJ91FRV8u2rtzBowaOkuXomdT6Fob++nvTMbJ6c8SS3TryVndvvzAP7P6DiWURERFo9TdVopm6deCs1kRr+MurPTHj8SnYpfpTpaUPpcu5LDG5T1Cj7yMzOZddTb6B05bnMefYy+hS/zMn37c01J+7DaYNOoyC9gLlr5uL36DzPIiIiIj+VRpybwORVkzn9v6dzXN/jyFtzCId/9WtK2gxnpwuewB8IbrP9jp/xHZeOW0RZVR33DZ7LPsdfvO4MHAsrF5ITyKEgvWCb7V9ERESkOfupI846j/M2FolHuPbLa+mY1ZGsmiO57X+reGbwo4z47TPbtGgG2GVQL/57yV5c0X0B+8/9GzNv2Z+K0pVE4hHOf/98znr3LMrqyrZpBhEREZHthQrnbez52c+zsHIhx9pOdP74ao4bUsTVx+6Bx9s0Z7fIzfBz9lkX8fUOf6NfaBq19+7J4mlf87fd/kZxVbGKZxEREZEkqXDehiLxCE/MeIKhWf05aerDDEpfw9+P3hGPx7b+4EZkHg8jj/kdi458Ga+L0fmVI/FOmcW9+91LcVUx579/PtX11U2aSURERKSlabTC2czyzOwlM5ttZrPMbNfG2nZL5ff4eWD3e7hs1hQqLI/2Z79AIJiWsjx9h43Gd/6nzAkO5v8+LWfqvEJuG30b88rncd/U+1KWS0RERKQlaMyzatwF/Nc5d6yZBYCffkLi7Uh9rB4fXiqf/RNDIqUsOPJVOrRN/WWwC9p1JvOK92n/4lT+/vYsbhi0kvv2vZeh7XdKdTQRERGRZq1RRpzNLBfYC3gUwDlX75yraIxtt1Q3fn0jx7x8Ir3WfsmEHufSd9joVEdaJy3g458nDuMvQ2s5+bvLCD77f3iijur6ah6f/jhxF091RBEREZFmp7GmavQASoDHzewbM3vEzDI3XsnMzjGziWY2saSkpJF23fwsr17Oq/NeZf6qfK4sepCRJ9+Q6kib8HiMM8cex/g+lzOs5n/MuXMM4+a+xu2Tbuef3/wz1fFEREREmp3GKpx9wDDgfufcTkANcNXGKznnHnLOjXDOjSgqapyLfjRHj057lHjcESrdiyuP33fduZObo11O+itfD76GwXUT2XHcg4zpfjgPT3uYV+e9mupoIiIiIs1KYxXOxUCxc+6rhvsvkSikW52KUAWvzXuVo6orubfXUnq3zU51pK0aeexlTB7+D/qHp5MzOY+R7Xfhui+v44vlX6Q6moiIiEiz0SiFs3NuJbDUzPo1LNoPmNkY225pXprzIvUuwkFrA+x17EWpjpO0EWPO57OD/8PDJTuwev4JdMvpzk1f30QsHkt1NBEREZFmoTHnEPwW+FfDGTUWAGc04rZbjL7fVXHnqhKCQ/9BWkZWquP8JKN33YX7clbyxL+f4TfV5fQ64yG8nqa5UIuIiIhIc9do53F2zk1pmL+8o3PuKOdceWNtu6UI1VbT79t/0qW+C8MOPi3VcX6WAwe15/I9Ctindgq1j5xFTU0l/5r1L0LRUKqjiYiIiKRU8z1qrQU6e9zvOCDDz/A9/oZ5Wu5FGYcfcgYTIyGGTfojLz9wBDcVVvBtybfcuOeNmDXtVQ9FREREmouWW901MzNK5jEl/BXPFZ3IoN0OTXWcX2zEmPOZuOM1HFc1lWOqsnl74ds8Nv2xVMcSERERSRkVzo3k7o/uxDkPv9/zlFRHaTQjj7mUr/pfxaBVubT3jOKuyXfxydJPUh1LREREJCVUODeCquoKZlV/zLBwkH1690p1nEY1auwfWbH3ncybeRj53q785fO/UBupTXUsERERkSanOc6N4Ok3/ky518NZnY5NdZRt4qL9+hCqXMU+0+cyt/sBZPgzUh1JREREpMlpxPkXikWjdFnyHrvVejlxv9+lOs42YWZcftRukDWYXy98hgmv3MVnyz4jEo+kOpqIiIhIk1Hh/AtN+/hFjqhbyTndLsHvC6Q6zjbj8XrZ8aJ/823acNJn3cD575/PLRNuSXUsERERkSajwvkX+nbaK8z2FLDj/r9OdZRtLhBMo9eFrxBw3TmpoppnZz/LK/NeSXUsERERkSahwvkXmL+6in8EopzTsxf+QDDVcZpEZnYeReeOY1jVIHy1Pbn+y+uZsnpKqmOJiIiIbHMqnH+BRz6diDfzOw7vc1iqozSp/KIODLzwBXzlZxKP5HHJhxdTXV+d6lgiIiIi25QK55+ppqqCXovPxsxxdN/DUx2nyXXOz+Dx0/bm8hVw6rJKCOlAQREREdm+qXD+mWa8/zSfZRldAu3pnd871XFSYnCnXIbucRGnrV3CgvuO4buy+TjnUh1LREREZJtQ4fxzzXqWKcEgh/Y/MtVJUmrH0cfwzZBrCca+5dg3juapGU+mOpKIiIjINqHC+WdYOn8aI+tn8H92IGP7j011nJTb+ehLKG1/KvvU1nDbxNv4YtkXqY4kIiIi0uhUOP8MxR89QswZIw+4mML0wlTHaRZ2O+NWDoztgy/chks+vJwla5ekOpKIiIhIo1Lh/BPF4o47Vg/muC67sMxXkeo4zYZ5POx7/kP08v6eukics94+m5pITapjiYiIiDQaFc4/0ZfflTHJVTDPv4zaSG2q4zQrAZ+Hx04+iKMqBrDvqvksmzU11ZFEREREGo0K559o+ceP0DX3SzJ9mezcfudUx2l2stP8XHzCNZxR7sh75SQWLZqR6kgiIiIijUKF809QHw5x4LK7iWQtYPdOu+P3+lMdqVlq26kHtcc9S4mvntM/GMvrM15OdSQRERGRX0yF808w+/PXWRWop9ITY49Oe6Q6TrPWY9Ao6ve+h47Req7/+lqmr56Z6kgiIiIiv4gK558gPPUlVnky6J/fn9067pbqOM3eTnsezW/an4uLpXHGfy6krHZNqiOJiIiI/GyNWjibmdfMvjGzNxtzu81BqK6GARX/Iy1td14c8yLtMtulOlKLsP+Rl3F4l79RF6/gpFfOJBLXpblFRESkZWrsEedLgFmNvM1mYdI3E6kkiG/or1IdpcW59sBDOMB3CN2qpvP58zemOo6IiIjIz9JohbOZdQYOAx5prG02Jy8X53JoxmWcW3wLM0p1poifwsy49cTrOK+qF3vNvo1J/30q1ZFEREREfrLGHHG+E7gSiG9pBTM7x8wmmtnEkpKSRtz1thWNRvlo1ko6dyom7uL0zOuZ6kgtjtfno/+FL/J1sA93LbqBcZ9sl5+vREREZDvWKIWzmR0OrHbOTfqx9ZxzDznnRjjnRhQVFTXGrpvE3K/f5T/x84h4pjC83XDSfempjtQipWdm0/7Up1nhC3D7/DuYPPurVEcSERERSVpjjTjvDowxs0XAc8C+ZvZMI2075dZOHUfMW8OKyEqdTeMX6t65P9eOupW1Hh+/+d91LKtYm+pIIiIiIklplMLZOfdH51xn51x3YCzwoXPu5MbYdqq5eJzOqz9iXE5fAEZ2GJniRC3f7jsczAVDricWWMLJL15ATVV5qiOJiIiIbJXO47wVS+Z8Q2e3ko7t9+HinS6mX36/VEfaLpw1bAyHtj+RNCbzzf3HEo3UpzqSiIiIyI9q9MLZOfexc+7wxt5uqiz/OnG56N32Oouzdzwbr8eb4kTbj38ceBVX5Z7CHrUTmXz/b3DxLR5XKiIiIpJyGnHeircquvNgxonMii+hNlKb6jjbFY952Pv4P/Jpp1N51z5j3FOXpDqSiIiIyBapcP4Ra0MRnl3VmWl9R3HhBxcyv2J+qiNtl3qecCVvZuXxRORd3hv3UKrjiIiIiGyWCucfMXXyVwx03+HJ+I4MXwYDCgakOtJ2qXNOF27d926+8we5dMl7vD1tWaojiYiIiGxChfOPCEx8kGcDf2dJ7TR2arsTfo8/1ZG2W3t024tLh1+BZc/mqg+uZer491MdSURERGQDKpy3wMXjdF3zJZOzh/Bd5QJGtB+R6kjbvdMHn8KxvU8kLfdrct89mbmTP051JBEREZF1VDhvwZJ539KBEmZ2Spy/eUQ7Fc7bmpnx513/wKN7PUTA5VA07mQWz56c6lgiIiIigArnLVox6S0ADht1Hi8d8RKDCgalOFHr4PV42aHXKOInv8K/ctNZ8OpxrFwyN9WxRERERFQ4b0lw6acstY506TmIfm364fdqfnNTyu/ag3EduvKXdmlM/tfplFaHUx1JREREWjkVzpsRjsY4o/p8Xul3IzeMv4EZpTNSHanVyfRn8sihjxMPZPPHQi8nP/4BlbWRVMcSERGRVkyF82ZMWVJBRcRPZs9cnp/zPMtrlqc6UqvUNacr9x/0IN5gLUsD9/D8vZextqIs1bFERESklVLhvBkVXz7Fpb6XcIFFAAwpGpLaQK3YkKIh3L7PbQTSVtAr/jLL7z2c6rXlqY4lIiIirZAK583otPhVDgtOZU7ldDpkdqBtRttUR2rVRncZzX+O/S9thvwfvetns+SfR1BbXZnqWCIiItLKqHDeSKiuhj7hmZQWjmRqyVR2LNox1ZEEaJ/Znp0OPp0nh17AS9nLmH/PEYRqq1MdS0RERFoRFc4b+e6bTwhahHivURimaRrNTLRnV17MyeKNzGJuevJFwtFYqiOJiIhIK+FLdYDmZu3sj4g5Y9DOR/Bu/hnE4irMmpNzdjyHinAFz8x6hnDJNBY9PYn7TxpGWkBvZREREdm2NOK8kVVlFczwDyY3vxBIXJBDmg8z4/c7/54xvcYQLHqPyrKbmXv7QdTVVKU6moiIiGznVDivJxSJcWXl0bwx9EGu+OQK7p1yb6ojyWZ4zMPfdvsbh3Q/hE4dvQysm8TCuw7R2TZERERkm1LhvJ5vFpdTH40zsmc+nxZ/SnW9Dj5rrnweH/+35/9x14nPMmXkLXSqn8myuw+msrw01dFERERkO6XCeT3u05t5M/An2uWXUxetY0DBgFRHkh/h8/jwmIfOo49gTK/+fJm+nNX/PIjyyrWpjiYiIiLbIRXO68leNYF0v7GkbiEAA9qocG4JCtILGNZ5FLcV5nFjeidOfHwKq9eGUh1LREREtjMqnBvEolF6hGZRmjeEWWWzCHqD9MjtkepYkgS/x8/Ne9/Mfl334+uihSyNv8nV9z7J0vnTUh1NREREtiONUjibWRcz+8jMZprZDDO7pDG225QWz55IltXh7bYLHTI7cGiPQ/F5dIqzlsLv8XPL3rdwSI9D8BT8h+GBu8l85lDmffNpqqOJiIjIdqKxKsMocLlzbrKZZQOTzOw959zMRtr+Nlcy8xN6Ah132IcRPfqnOo78DH6Pn3/s8Q/65fdjd99AQi+cSsfXjmNa1QPssNevUh1PREREWrhGGXF2zq1wzk1uuF0FzAI6Nca2m8rkqja84jmAws49dNGTFszr8XLmDmfSf8CuxH7zBvfmt6PXB2cy8a2HUx1NREREWrhGn+NsZt2BnYCvGnvb29KzZb15r+cf+bD4I3Z9dlcWVS5KdST5haZFFvB0vuP8Dt0o/uo57vtoHs65VMcSERGRFqpRJ/GaWRbwMvA759wm5wQzs3OAcwC6du3amLv+RUrKyoiXL2b4Lnsyc80nRONROmW1qAFz2YxDex7K2vq1/OPrfzC/VwbL35/E6pXF/OnoXQkE01IdT0RERFqYRhtxNjM/iaL5X865Vza3jnPuIefcCOfciKKiosba9S9WPPFNPgtewh6ZS5lVNos++X3we/2pjiWNYGz/sdw5+k7qvSvpMOBh9ph/MfNv25/ykhWpjiYiIiItTGOdVcOAR4FZzrnbG2ObTSm84EvCzk+PQaOYtWaWzt+8ndmn6z48etCjtM3KJrzjKfQKz6bmvtEsnjMl1dFERESkBWmsEefdgVOAfc1sSsO/Qxtp29tcftk3LAj0pSxaTmW4koEFA1MdSRrZjkU78sqRr3DYkVey4PDnmB2sJ//ZQ5n64QupjiYiIiItRGOdVeMz55w553Z0zg1t+Pd2Y2x7W6sPh+gRmU9lwVAC3gAXDL2AndvvnOpYsg14LPF2n9emlks7ZHFzQSF8fAN3vjuLeFwHDYqIiMiPa/VX+Fgy82t6WxR/150pTC/k/CHnpzqSbGOH9DiE6aXTeXb2s4zP7cf8j6czZ+kqbjxqALkF7VIdT0RERJqpVn/J7UnV+fy2/iLa77gfs9fMpjJcmepIso35PX7+NOpPXLvrtZTZd3QZ/DDDVtxAzT/3ZP7Uz1MdT0RERJqpVl84T1wZ5/P00XTo2Jlz3zuXWybckupI0kSO6XsMjx/0OAF/jII9j8PnInR55Ui+eu4fuHg81fFERESkmWn1hXPBgtc5qF0lJXUlrAmt0YGBrczQtkN5++i3OXrvc/Ge/z+eyh/ADnNuYuqth+qUdSIiIrKBVl0411RV8Pva2xnjHc+sNbMAVDi3QkFvEIC6DLi3TRVHdh9IqH4uJz/4KZ/PL01xOhEREWkuWnXhvHj6l3jNkdFjBLPKZuExD33z+6Y6lqRI5+zOPHjAg0TSAlzQLY81+TM45dHPeeexvxGqrU51PBEREUmxVl04r/3uKwA6D9qDmWtm0iOnBxn+jBSnklQa1WEUL415id077k511qsM6v8oBy65ndW3jGT2hPdTHU9ERERSqFWfjs6/8htWUESHdp25yH8RFeGKVEeSZqAwvZC7972b1+a/RiQeYXqPMyn48HL6vHks4yeOZcipt5CemZ3qmCIiItLEWnXh3K5mNsszB9AB6NemX6rjSDNiZvyqz68Sd/rBywVhXhh/J7eueJEpt88jfuLz7N67MLUhRUREpEm12qkaa2rqObjuBmbscBULKhbw1oK3qI3UpjqWNFO+YJDF6XGO7NqVf+R146RHPufyf33O6mWLUh1NREREmkirLZy/La6gmgx69+nH+0ve56r/XUXMxVIdS5qpI3sfybijxjG66z4szJlAlx0eIHvR7WQ+NIrx//obkfpwqiOKiIjINtZqC+e6KS9zqe8lBnfMYVbZLLrldCM7oHmrsmVtM9py++jb+ee+/yQ9GGPAAYczP2NHdpl3O8tuHMHUD1/QhVNERES2Y612jnPbJW+zg38uOekBZpbNZMeiHVMdSVqIvbvszagOoxLnfx5xGte/djHx4g+57H/n8NrkD+k99iZ26Jyb6pgiIiLSyFrtiHO72rmszuxLRaiC5TXLdeET+UnSfGmYGebxYB3b81KulwO79+afPuOIez/kr0+/w7IFs1IdU0RERBpRqyyc11aU0dmtJFw4iNnlswEYVDAoxamkpfrzLn/mucOfY0jHEazO/4yigbeRvuwm2j25GxPuHEvx/OmpjigiIiKNoFUWzsWzJwCQ0XUYo9qP4r1j32NI2yEpTiUt2aCCQTxwwAM8efCTDGnbn72O+hMT2x1Lx7UfkvPMnky44ziWzJ2S6pgiIiLyC7TKOc6rli+mq0ujY/9RmBntM9unOpJsJ4a1G8YjBz2SuNN/f658P5uPiz/kuMqJBP51PTN6/ZEzd+/OyB5tME+r/NwqIiLSYrXKwvnt2C5c6XuKr9t34e/j/86enfdkr857pTqWbIdOHfobYj7jmcXvQ953uKp/svpfRdxqH1Ax5Gx2POgMAsG0VMcUERGRJLTKIa8Zy9fSv2Me5fUVPDfnORZULEh1JNlODS4czG2jb+PNo9/khP7Hk543i079SvG7eoZPvorlN/bjywcvZOm8qamOKiIiIlvR6kac68Mh/q/sdywsPJOZZREABhXqwEDZtrpkd+FPo/7EJcMuIRwLkx/I4/l3b+eWlU9xQPV/2PXld7g87zFO2Lknhw5uR3rQn+rIIiIispFWVzgvnTOZoZ75RPP8fFUyFY95GNBmQKpjSSuR6c8k058JwC67HsuYmTX8d8F/eCu7BotfydWfDqb/m/8jlDUQzw7HMGDPX5GWnpni1CIiIgKNOFXDzA42szlmNt/Mrmqs7Ta2su8mAdC2z85MXjWZfvn9yApkpTiVtEbdc7tzza7X8MnYT7lrn7s4qOeetG+/kIo2I+lZNYFVU3/P+3cP4LM7juGLzz+mJhxNdWQREZFWrVFGnM3MC9wLHAAUAxPMbJxzbmZjbL8xxZdPpcYF6dhjEJHvIuzcfudUR5JWLuANsG/Xfdm3675E41F8Hh+R+jD3vnwEi+pXEIjPITjlH5R/MYz9sjtycu5auow6ik49NcVIRESkKTXWVI2RwHzn3AIAM3sOOBJodoVzTsVslvp70t/v56lDnsI5l+pIIuv4PIkfSX8gyCsnvMXkVZP5aPGHvL/4U6pCb7Kyth27zJmAm3MzD2V3IC/Qny5d9qPrHqfQqTAvteFFGlE8FiPmHDFnxKJRYuFq4tEI8XgM5xzOOeKBbJwvDRcJYXVlieXxeOL3unNE0wuIedOJ11cRqF1NPO6IuRjEYzgcoczOxH3pWF05abWrwDki8SguHiPu4tTl9cb50vHXlpBRuxog0Y7DzKhr0x/nDRKoLSE9VAZAfbx+3XOoa9MfPH6CtavJCFcAEIqH1/3dCRcMAvMQrF1Nen0VALWxOswAjFDDFW3Ta1aRHqnFOUcoHgbAeXyE8/tiBunVK0iLhoi7OOGG/Tuvn/q83gBk1KwkGKtPtLvv24NEcrthGOnVKwnEo8SJr8vvfGlEs7skHl+9Ar+LE3Nx6l0EsER7VkfMEu0+54i7GBGX+GbM+bOIZbZL5K9eiQ+INbSbQdyfRTy9AMNIq16J1zzEXIyoiyUeH8gkntYGcKTXrMbr8RCNR4m6GGZGPJCFC+ZBPEZGqBwzI9rwHBKPz4ZgNsSjpIWq8HgS7bHvtx/MBn8GxKKkR2sBEo9v6BsXyAJ/OhaPEIzUNbRHGrZOYtu+IBaLkBar3+DxZg2P9/rxxKP4Y4njqSIuwvclhwUzwePD4hH88TjW8PjEewvwZYLHiycewefiDe+9CJZ4c4AvHTMvFo/iA8wSj1/HF0wsjMfwNzwmGo+CNUw08PjADIvH8DUsi6z/eG/iOBtPPI7XDOfcutcu0R5oaI/hSbI97r5/9Wzd9i0exWOGxxfA520Z56torMK5E7B0vfvFwKhG2najiccd71s2aUUd6OvieMzzw5tQpJnxe/yM6jCKUR1GcdUuf2RlzUoisQjFqyuZ/PUz3BN5C/iOQPl8Qi+9TZrryUneTHbLziOvzyi6D9pF86NbiVg8UUx4zEM4FqY8VE4kHiESi1BTH6a2vp72Logv4lhZVcycirmE62upNj9VgTaEY/XsXVVDdtzLovBypkYXE4tFqfbnUR5sRyxWz2/WrCE7BjOtlEm+MuIuTpmvgFJfEcTD/H3VUnJiMT5Lr+Wz9Ahxc6z2tGGNJxevq+dfyxeR7uK8nGO8n+XF4VhjOVSRgY8Iny+dg5c49+Zn8d+sdOIGFWRS5wIEHUxeNgOAawvb8G5GBgC1BIjiIRgLMGlZYpzm4raFfJqRThxwDb/f0+qzmNDQfkb7tkxM3/AUkDmhHD5fkbjC5/Ed2zMrGNigvbA2j49WfQvA4Z07sNi/4cG7narz+W9J4sw4+3bpSIlvwz+tvavyeLU08fhR3TpTu9E53HeozOXfa6Ylbvfoukn/7lKew8MV06kxY5fuXTZp339NJndUzqLE62Hfrp03af9VaRrXVc1lkc/Hr7p03KT9tBIfV1QvYEbAz9hOHTZpv3iV4+zapUxIC/KbDu02ab9mZZhj61bxcXo6v21ftEn7ncvXsl+4grczM/hD28JN2p8uLmFopI4XszO5rrBgk/ZxxcvpHInyZE42txbkb9L+wZJltI3FuC8vl/vzczdpH79oKZnOcUubPJ7KzdmkfdrCJQD8rSCfl3KyN2izmI9vlyTOvHVlUQH/ydrwd6ovmsY3S+cCcFG7Ij7JSN+gvTHfe0d06sCiwM9/7+21lffe8G383jtiC++9k6vK+ceAV7lr7E6btDdHTXpwoJmdA5wD0LegAK69til3T9QZr3cMkR9fyocPj2bXurZcUj64STOI/FzrX6anM2mM8B3Mt4E1fBYsZWKgjhVpXxJY5WOX5XOYsijAid8U0D7sI7u+Lb7wMHaMprFnNE5H/PrAuA05HDUWpc4TJWQx6ixG2GK0jaXTLpZOjUX4JGMlIYtSY1GqzKgmzpC6HLqFg6zwVvNim0WELUqdGZWWTtgT46jydHaujbAgrYb72ldQb3EiZkQMMMfFK9I5tG4NEzMcf26fsUmuO5avZf9wBVMzM/jHZoqXMctKGV5fy+LsTF5vKF4sDPGQD/DQraSYjhGYnZ3JjPx0PEA4XkdNuByvA0+oAk/MR9jvqDLwOg+eaIx0F8OHURJtR8B5cZEwBfVhDCPgcsh1OfiJMDU+CvDi6qvoURfCMKpdHvVkku5ijI91B4yc2nJ2jtXhAWpcPlHSyYo7vo71xYCe1WvICIcxoI42xFwaefE4k+IDccDQtaV0rU2MENaRT5wABVHHN7HE34LdK1Yz2JdoD5NPHB9tI8bU2A4A7Fu+ghpPYmQuRB4OLx0jxrexQTjg0PLlhC0xslZLG8BDl3pjSiwxterosuVEzTW0FwJGj/AP7SeWLscAh1FDogjtG4JvYjsQJc6JpSsa3mdGdUP7oBB8ExtCKB7jxNKVOMDhpYZEPw+sg29iw6hyEcaWJkbO4/ioIdHP3esck2IjqKiv54TSUgBi+BvajcJQnEnxXSkPhzi+dA0AUQLUNjw+EI4yMe6jJlzH8WXlAERcGrUkitxwfYyJcS/RUC3HlVUAUO8y1rWXRMNMiPvx1NVwXFll4rV1WdSSCzgW1kcoifsI1lZzrKtqeO2zqSMXiDErMpRFzktuTRXHxKobXttcQuTgIco30aH48VBUXcUxkRoAasgjRDYe6vkqlijYOldXcnR9YnS5ijaEySLoInzV8N7otbaSo0MhANZSSJgMMuNRxsf6ATCgspw2dYn3ToVrSz3p5MYjjI/1BGBIZTldahOjz2tceyIEKYxFGR/rBsDIijX08yXeW2WuIxECdIhGGR/r3PDeXMNQb6K9xHUhio9ukQhfxjo2vDfLCHkS771VritxvPSM1K9rP3RN6br33nLXA4eHAfUhxsc6AXBUWcm699Zyl8g8MBxifKwzEeIcWVbW8N7xsNJ1B6B3KMT4WDdC8RhHlq1peO/4WOUSRXiXujrGx3pS7aIc+f17Az8lJIrwglAN8+I+DpvxCVz7Oi2BNcZUBTPbFbjWOXdQw/0/Ajjn/rGlx4wYMcJNnDjxF+/7p7plwi08NfMpAK7d9VqO6XtMk2cQ2Rai8SjxWIzyVcV8+s1LvFbyH1a4ckp8675c5K5ltYyor+Ot7E68lxOkwF9ATm5/CjuPpE9BR/boMpQ0f/qP7GX7UFVfRW2klrpoHaFYiLpoHTmBHHrl9QLg5bkvUxutJRRNtFVHaumf2Zvdc4ZQVbWGa2ffSihaR10sRI35qI+H2MM7gF/V5bC2fg1XpI3fZJ8Hrm3PpWuWssYb5qQumx6QPLYkwNXV81ng93Fe+7YE4w7n/CyIdcU5H39YW8xRoZV850vn2bwgPrxUWxtmpI3C7/Fzxtr59IlFKPEZ04NhvJ4A4bSOlLYZSZovyN5Vi8n3pVPrgzWeegKBTPxZHfAW9CHdH6B9uIK0QCbm9+HzBwgEMgimZeAPpuP16IOWiGyfzGySc25E0us3UuHsA+YC+wHLgAnAr51zM7b0mFQVzovXLubEN0+kc3Znnj70aYLeYJNnEGlKNfU1fLNyLt8sm88OC2eRXvYdk6OzeC27htU+I7re6PObi0vwuHyeycvk3ewY6QTw+gsIZHQiN5DFJYX7k5PbljnRZayIlZKTkUfQn0aaN42gN8ienfcEYGnVUirDlYnpA3jwmAefx7euMF1Zs5Kq+iriLk7URYnFY/g8PgY2zOmcXjqdNaE1xOIxIvEI9fF6Mn2Z7NN1HwBemvsSy6uXUx+rJxwLE46F6ZzViVN6/5pwbTXXTr6BZdXLCcVC1Lo44XiYvsFeXOAfSTxUxe9qn6OK8AavU/9IN64pqcIfq+PXneqob/hG0zkPxP3svDaDxyumEgdO7dCONOcIxh0fRHfBOT8n1y7mL+FJVDk/z+Tm4nM+YpbJixmnk+4LMqZuKsPqV1LvT2eV3/D5syCtiBXdTiQnLZ2uVTPItDr86dkE0rMIZmSTlpVPML8DGX5vi5n/JyLSkqSkcG7Y8aHAnYAXeMw59/cfWz9VhTMk5gMCeD3elOxfpLmoqa5k7sqlzFxbzcKSBey74BOCNSuZ4lnJ1GAN9RZhrhWy0pOBz1vDlOIZeIDrCvJ5ceO5gM7HK0uNqAW4qyDCZxn1G7SnkcV95d0A4+6sxUzxV23QnkMb7ijviCce4ebsJcwK1G3Qnhcr4KEV9XhdhKvahvgu4Ag4iLh0ovEgnUJpvFM6AYCrigoo83pIjzu+iO5EVTyHXevX8ETtRwC8mpVJzMAT93GXnUW9r5CDorMYG55IvTeDEn8ArzcTvy+TL3pcSnp6Jt1rp9E2vARvWha+9Bz86dn407PwdhxKRtBPhqeejGAQX0AfxkVEWoqUFc4/VSoLZxFJXqg+SllthNLyCjxLvqS+ppK6mhLqQmsIhyuZmT6YeZ7OpIWWcWbJOLyxMEu8dVR66vG6KP/17c0MetLVreKfa1/EcExLM8o9hg/HC3YYs+lNf7eMO2pfIm5eFvq91Hi8gJeXM06k2N+PwZEFnFIzjrj5iXgDOG86cW+QLzueTm1WF7qE5tOr6mvMn4bHn44nkIE3mE5Vpz0IZOSR69aSFV9LWmYuaZk5ZGTm4PW1umtAiYjIelQ4i4iIiIgk4acWzpo0JyIiIiKSBBXOIiIiIiJJUOEsIiIiIpIEFc4iIiIiIklI2cGBZlYCLE7JzqEQKE3RvqVpqa9bB/Vz66G+bj3U161HKvu6m3Nu02vFb0HKCudUMrOJP+UISmm51Netg/q59VBftx7q69ajJfW1pmqIiIiIiCRBhbOIiIiISBJaa+H8UKoDSJNRX7cO6ufWQ33deqivW48W09etco6ziIiIiMhP1VpHnEVEREREfpLtunA2s4PNbI6ZzTezqzbTHjSz5xvavzKz7imIKb9QEv18mZnNNLNvzewDM+uWipzyy22tr9db7xgzc2bWIo7Slk0l09dmdnzDz/YMM/t3U2eUxpHE7/CuZvaRmX3T8Hv80FTklF/GzB4zs9VmNn0L7WZmdze8D741s2FNnTEZ223hbGZe4F7gEGAgcKKZDdxotTOBcudcb+AO4KamTSm/VJL9/A0wwjm3I/AScHPTppTGkGRfY2bZwCXAV02bUBpLMn1tZn2APwK7O+cGAb9r6pzyyyX5c/1n4AXn3E7AWOC+pk0pjeQJ4OAfaT8E6NPw7xzg/ibI9JNtt4UzMBKY75xb4JyrB54DjtxonSOBJxtuvwTsZ2bWhBnll9tqPzvnPnLO1TbcHQ90buKM0jiS+ZkGuJ7Eh+BQU4aTRpVMX58N3OucKwdwzq1u4ozSOJLpawfkNNzOBZY3YT5pJM65T4E1P7LKkcBTLmE8kGdmHZomXfK258K5E7B0vfvFDcs2u45zLgpUAgVNkk4aSzL9vL4zgf9s00SyrWy1rxu+2uvinHurKYNJo0vm57ov0NfMPjez8Wb2YyNZ0nwl09fXAiebWTHwNvDbpokmTeyn/j1PCV+qA4g0FTM7GRgB7J3qLNL4zMwD3A6cnuIo0jR8JL7SHU3iW6RPzWwH51xFKkPJNnEi8IRz7jYz2xV42swGO+fiqQ4mrc/2POK8DOiy3v3ODcs2u46Z+Uh8BVTWJOmksSTTz5jZ/sDVwBjnXLiJsknj2lpfZwODgY/NbBGwCzBOBwi2SMn8XBcD45xzEefcQmAuiUJaWpZk+vpM4AUA59yXQBpQ2CTppCkl9fc81bbnwnkC0MfMephZgMQBBeM2WmcccFrD7WOBD51ObN3SbLWfzWwn4EESRbPmQbZcP9rXzrlK51yhc667c647ifnsY5xzE1MTV36BZH5/v0ZitBkzKyQxdWNBE2aUxpFMXy8B9gMwswEkCueSJk0pTWEccGrD2TV2ASqdcytSHWpj2+1UDedc1MwuAt4BvMBjzrkZZnYdMNE5Nw54lMRXPvNJTFgfm7rE8nMk2c+3AFnAiw3Hfi5xzo1JWWj5WZLsa9kOJNnX7wAHmtlMIAb83jmnbwxbmCT7+nLgYTO7lMSBgqdrkKvlMbNnSXzYLWyYr34N4Adwzj1AYv76ocB8oBY4IzVJf5yuHCgiIiIikoTteaqGiIiIiEijUeEsIiIiIpIEFc4iIiIiIklQ4SwiIiIikgQVziIiIiIiSVDhLCLSwphZnpldkOocIiKtjQpnEZGWJw9Q4Swi0sRUOIuItDw3Ar3MbIqZ3ZLqMCIirYUugCIi0sKYWXfgTefc4FRnERFpTTTiLCIiIiKSBBXOIiIiIiJJUOEsItLyVAHZqQ4hItLaqHAWEWlhnHNlwOdmNl0HB4qINB0dHCgiIiIikgSNOIuIiIiIJEGFs4iIiIhIElQ4i4iIiIgkQYWziIiIiEgSVDiLiIiIiCRBhbOIiIiISBJUOIuIiIiIJEGFs4iIiIhIEv4ftw8uXpRw2p4AAAAASUVORK5CYII=\n",
      "text/plain": [
       "<Figure size 720x360 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#ステップ応答とインパルス応答を図示します。\n",
    "pyplot.clf()\n",
    "fig,axes=pyplot.subplots(2,1)\n",
    "fig.set_size_inches(10,5)\n",
    "axes[0].set_title(\"Step Resonse\");axes[1].set_title(\"impulse Resonse\");\n",
    "axes[1].set_xlabel(\"t\");\n",
    "axes[0].axhline(1.0,color=\"red\",linewidth=0.5)\n",
    "axes[1].axhline(0.0,color=\"red\",linewidth=0.5)\n",
    "\n",
    "T=linspace(0,1,4096)\n",
    "\n",
    "sres=step_response(Msys,T)\n",
    "ires=impulse_response(Msys,T,)\n",
    "axes[0].plot(sres.t,sres.y[0, 0,:],label=\"Msys\")\n",
    "axes[1].plot(ires.t,ires.y[0, 0,:])\n",
    "\n",
    "sres=step_response(Gyr,T)\n",
    "ires=impulse_response(Gyr,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"Gyr\",ls=\"--\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:],ls=\"--\")\n",
    "\n",
    "sres=step_response(Gyr_d,T)\n",
    "ires=impulse_response(Gyr_d,T,)\n",
    "axes[0].plot(sres.t,sres.y[0,0,:],label=\"Gyr_d\",ls=\"--\")\n",
    "axes[1].plot(ires.t,ires.y[0,0,:],ls=\"--\")\n",
    "\n",
    "fig.legend()\n",
    "fig.tight_layout()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 84,
   "id": "39c2d7c4-bf4c-4ac0-aadd-17ad16717dbb",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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rxGkOnzzD4ZNnOHLyDEdPnSHhVDIJic52LCmZ40nJnDidwonTKZw8ncKpMykknkkl8UwqScnOdjollTMpaZxJSSM5NY2U1DRS05TUNCUtLd3JlyXIMJ5BW5j9lkA5Ve0AlPRY7Vos/ubNN30zZ3KjW+kwzhq/33oCvF8McVxM5+nFiI+PZ/z48fTp04fk5GSuvfZa+vbtyz333MOpU6e48cYbeeSRR+jVqxcJCQl0796d/v3706NHDw4dOkTPnj156qmn6Nq1K/v27aN3794MHjyYLl26sHv3bu69916ee+45OnfuzLZt27j//vu5/J5n+fZ3l9ZxUSUkRBARNC2NtLQ0wsLCCBEBTSXldCJVKleiTMkwEk8e4/CB/bS4rDGVypbi8J87iV+7kgEP3U/NC8qydtFsfvjqY+b/7Pj9e//995kwYQJz5swB4L333mPq1KlMn+4sTfDWW28xd+5cvv/+ewBee+01lixZwqRJkwAYOXIkcXFxfPXVVwAMHz6c+Ph4PvvMWSdn6NCh7N69m48/dlY/HDJkCH/99Rfjxo0DYNCgQSQmJvLuu+8CMHDgQABGjx4NwGOPPUbp0qV57bXXAOjXrx+VK1fmlVec5TPuu+8+ateuzUsvOatq3nPPPTRs2JDnn38egN69e9OiRQsGDx4MwG233Ua7du0YNGiQX78iH3kAx5/QSzhrKM824XNwrOrzarluseTKU0895VO8Ai8cjKO1pAyeD7N6MaYAQ4FQdRa0PwfjabQfQHh4eJZpxcbGkpaWRkiI/xtIzaJCadG4Cfv37+err77i5q5dqVv3Iv78808mTppEt27dqF27Nnv++IMpU6bQvXt3qlevwe7du5n24490796dKlWrsnPnTmbOnMUtt9xCZGQk27bv4KeffuLWW28hIuICtm7byvwFC7j1llupULEiv//+O7/8sphbe/SgXNlybN6yhV9/Xc6tt95KqdJl2Bgfz6q4eK5oeT1pEsq2nQkcST1Dcqqy9eAJ/kgowama7Xhp2ibzJBfAFU/Q6fV5RF94ASePlSalhB3cDDTG11Ssqr4nzvrQEThuIcBx+Z7Jn5Z3nq9Tp04BKbUEG6NGjeLll1/ONZ5rRnAiMg/orKopIvIMsEpVZ4hIZ6C9qvq8oHp0dLRmNSA9fvx4APr06eMPyUFDappy+OQZ9h5NZNuhE2w7eJLf9h5jxc4jJCQmIwKtL7yAbi1q0KNlTcqUDIp5C7kiIitVNbdF4/2V1v3AYVX9zow5fAkcVNWvRaQHUEtV387uek+etwPSlrxy4sQJypUrB+Sc5wvLW5+A40EU8/+oLxeJSFega4MGDbI8bwuFrAkNEaLKhxNVPpzmtSPSw9PSlM0HjjNrw35+WLuX575bz2uz4vlbu7r0u7oe5cILS3YJChrieP58GKeVEImzENPXOM7fxrsnzRLMjBgxIr0bNicKy2ylJTjjEOC8GEt9uUhVp6pqv4oVK2Z5Pjk5meTkZP8oLAaEhAiNqlWgf6eLmTnwaiY+3I4r6l7A23O3cM1r8/hu9R92cNxPqOrTqnq9qnbBWb/jRZzu1oVAqqouc1miJUjxjL/lhhuzlUqIs2Zyc2CmiLRR1VUE4MW49tprufbaa/1xq2KHiBBd9wLG/S2ayY+2p3pEaQZOiOPxL1Zz9JRLA/FBiqpeZf4PUNUOqvqP3K6xWPLLiy++mHsk3BmQTsZpHWQM923yrRe5dSv17ds3z/osmWlZpxKTH2nPfxds5Y1Zm1n3RwIf9WlNgyrl3JZmsVjyiK+FQ2HpVsoXuXUr3XPPPdxzzz0FrCo4CQ0RHo1twNcPt+PUmRR6vPcLy7YfdluWxWLJI88995xP8Yp04ZAbp06d4tSpU27LCCpa1qnEt49eSVT5cP7+0TJ+3faX25IsFkse8GUwGop44SAiXUVkXEJCQpbnb7zxRm688cYCVhX81L6gDF/1a0eNiFLcN345K3faFoTFUlR4+umnfYpXpAuH3LqVHnnkER555JECVlU8iCofzpcPtqVqhVL0/d8Kdhw66bYki8XiA6NGjfIpXpEuHHKjV69e9OrVy20ZQUuVCqX4uI/j6eT+8ctJOGWnDVsshR1f3WcU6cIht26lhIQEsjtn8Q91I8vy33uj2XMkkce/XEVamrWDsFgKMx4/ZblRpAuH3LqVunfvTvfu3QtYVfHjiosuYFi3Jizccogx87e6LcdiseSAx5llbgS1P4T+/fu7LaHYcOcVtVm67S9enxVP9IWVaFOvstuSLBZLFhSLlkNu9OjRgx49ergto1ggIvxfj8u4sHJZBnwVZ8cfLJZCiq8thyJdOOQ25nDo0CEOHTpUwKqKL+XCw3i79+UcPHGal374zW05FoslC4pFyyG3MYeePXvSs2fPAlZVvLmsVkUei63PpFV7mPPbfrflWCyWDNgxB3yfsmXxL49fczGzNx5gyLfriK5biYgyJd2WZLFYDMWi5ZAbXbt2pWvXrm7LKHaUDAvh9dubc+TkGf7vx41uy7FYLF4UizGH3Ni3bx/79u1zW0axpHGNCvTtUI+vV+xh+Q7rXiMjItJGRBaLyCIRedOE/dMcf26WEbVY/I5tOeAsJt+7d2+3ZRRb+ndqQM2I0jz77TqSU9PcllPY2AlcY9ZyqCIiMUBHc7wWuCWni9esWYOI8PXD7fn64faICCJCtWrVAq/cUqQpFi2H3GYrDR48mMGDBxewKouHMiXDeLFbEzbvP8GHi7a7LadQoar7VDXJHCbjLBU6zxzPATItCi0i/URkhYisSElJyfK++/fbSQCWnCkWLYfcZit16dKFLl26FLAqizedG1flusZVeWvOFvYcse7TMyIizYAonHXTj5ngBCAiY1xVHaeq0dktCG+x+EKxaDnkxu7du9m9e7fbMoo9L3RrAmAHpzMgIhcA7wAP4BQIFcypCjiFhcXidwLWchCRMBGpntfr3ODee+/l3nvvdVtGsadmRGkeia3Pj+v2sdQuDgQ47xHwGTBIVfcBy4EYc7ozsNQtbZbgJiAtBxH5OzAdmGEKiW/yLq3geO6553xeEs8SWPpdXY8aFUvx0tTfSA0yz60icquI5NWY43agNfCqiMwD6gMLRGQR0AL4zp8aLRYPgWo59FXVa4HDqpoCFGrvap07d6Zz585uy7AApUqEMvjGS/ntz2N8syLouvrqAN+LyEcicp2I5PpeqeqXqhqlqrFmW6Kq/1bVq1T1LlU9k9P1YWFZ269WrVo1f09gKTYEaswhRUTKASoipQFXq4C5zVbatm0b27ZtK2BVluzo2qw60RdW4rVZ8RxPCh7HfKr6lqp2AV4E+gJ/isjbItIgUGk2b94cVeWOsYu5Y+xiVBVVtXY9llwJVMvhaWAicKn57+o80dxmK91///3cf//9BazKkh0iwtCujTl04gzv/PS723L8hog0FpHhwPvAFqAjMBb4X6DSPHj8NIu3nutUcvHWQ4y162lYciEgvpVUdRlQZOaGvvjii25LsGSgWa0IeraqxUe/bOeuNnW4sHJZtyX5g8eAL1T1ee9AEfFtJfd8ULpkKI9/sZqqFcKpUKoEi7ce4vEvVvPOXZcHKklLkODXloOI/CwiP2W1nY/IQBMTE0NMTEzuES0Fyr+ub0hYSAivzox3W8p5IyICNFDVXzKeU9VFgUq3XHgY79x1OVv2n2DPkVPpBUP7+pGBStISJPh1zEFVO6rqNUAc8CxO6+EZYFn+5BUM8fHxxMcX/R+gYKNKhVI82OEipq39k7jdR92Wc16oqgKbRaSXiDQQkXoiUq8g0m5fP5KmNSrwx9Ek7mlTxxYMFp8I1JhDW2CpmUmxjLPzsgslDz30EA899JDbMixZ0C+mPpXLluSVHzfi/L4WacrhVJieBZ4HCmT+9OKth9h1JJH+1zTgs193ZRqDsFiyIlDrOYwHlojITpzpe+PzeH2B8n//939uS7BkQ7nwMAZ0vpihUzbwc/wBrmlUdKdgqup9BZ3midMp53Qlta1f2XYtWXwiIC0HVR0HXAn0B65S1f/mWVkB0r59e9q3b++2DEs23HlFHepWLsPI6ZuKtGGciHQWkZkiskFE1onIgkCnmXgm9ZyCoH39SN6563LW7sl6WrfF4iFQFtIf40zXewV4X0Q+yrOyAmT9+vWsX7/ebRmWbCgRGsK/ujRi8/4TTFq5x20558P/4Vg8HwQ8LrcDSlT58EwthPb1I3k4pn6gk7YUcQI15jAMx9DnJeBbwFVHObkZwT3++OM8/vjjBazKkhduaFqNFrUjeGP2ZhLPpLotJ7+cVNVjOEahSThuMSyWQklAWg6qutNsO1R1KtAmH9r8Rm5GcKNGjWLUqFEFrMqSF0SEITc0Yt+xJD76pciu+fA/ESkFvA0sAH5wWY/Fki0BaTmIyEIRWWD+LwPm5kNbgdG6dWtat7aVuMJOm3qV6XxpFcbO28rhkzm6FCqUqOp4VU1S1W9VtY2qDndbk8WSHYHyrfSIql6tqh1U9Qrgy7wKK0ji4uKIi4tzW4bFB57u0oiTZ1J49+ei51ZDRJ4XkaVFxTjUUrwJ1JjD2xmOR+Tx+gJl4MCBPpeSFne5uGp5eraqxadLd7L3aKLbcvLKdaraVlWv8Wz5vZGIvGla5m/5U6DF4sGvLQcRuU9EFgItvbqVFgCFug9g9OjRPpeSFvcZ0PkSUHhrzha3peSV9SLSXUTqn4+FtIi0BMqpagegpIjYPlGL3/Fry0FVPzYZ9p9e3UpXq+rd56Ex4LRo0YIWLVq4LcPiIzUjSnN32zp8s3I3Ww+ecFtOXigF3IJjGX0+FtJtgdlmfw7Q7ryVWSwZ8HvLwezWEZGXvLd86isQli9fzvLly92WYckDj3VsQKkSobwxa7PbUnxGVe/LsOXXT3wEcMzsJ5jjdESkn4isEJEVO3bsIC4ujg8//JC1a9fy/vvvs379esaOHcvGjRt57733iI+P55133uH333/nrbfeYtu2bbz55pvs2LGD1157jd27d/Pqq6/yxx9/MHLkSPbt28eIESM4cOAAw4cP59ChQwwbNowjR44wdOhQEhISeO655zhx4gRDhgzh1KlTPP300yQlJTFo0CCSk5N58sknSU1NTf8BKsz/U1NTefLJJ0lOTmbQoEEkJSXx9NNPc+rUKYYMGcKJEyd47rnnSEhIYOjQoRw5coRhw4Zx6NAhhg8fzoEDBxgxYgT79u1j5MiR/PHHH7z66qvs3r2b1157jR07dvDmm2+ybds23nrrLX7//Xfeeecd4uPjee+999i4cSNjx45l/fr1vP/++6xdu5YPP/yQuLg4xo8fz8qVK/nkk09Yvnw5n332GUuXLuXLL79k8eLFTJgwgUWLFjFx4kTmz5/P5MmT+fnnn/nuu++YM2cOU6dOZdasWUybNo0ZM2YwY8YMpk2bxqxZs+jUqRNz5szhu+++yzEzii9+bUSkuaquEZFMvpRUdX6uNwgw0dHRumLFikzhsbGxAMybN69gBVnOizdmxfP2T7/zwz+uomnNrKcpBwIRWamq0XmI/5aqDjBdrp4XSXD88V2dj/QfAw6q6tci0gOopaoZx/mA7PO8xZIbAwcOTO9ayinP++RbSVXXmN3lQCecGo2ct8oA884777gtwZIP+l5dj0+W7uTVmfF8cv8VbsvJFlUdYP538NMtlwAPAV8DnSnkvsssRZNAzVaaCTQ11wmFvIBo2rQpTZs2dVuGJY9UKFWCR2Prs2DzQZZuc9UI3yfM2tHe239F5GkRydMa66q6CkgyLZFUs7iWxeJXAuWV9YiqvpJnNS6xePFiAOt8rwjyt3Z1+WjRDl6dsYlJj7THWVOn0HICWISz3kkznNb1dpwWQKe83MjTGrFYAkWgWg5hIvKtiAwvCgPSzzzzDM8884zbMiz5oFSJUPp3uphVu44yd+MBt+XkRjNV/VpVN6vqRKCxqn5N3itfFkvACVTL4d95VpIPRKQZjnO/waq6Kb/3+e9/C7VHcUsu3B5di3ELtvLarHiuaVSFkJBC23pYKCI/AOuBJsACEQnFGUOwWAoVgWo5aIbtjIhUzy6yiNQQkVUikiQiYV7hOVqBqupa4Ls8astEw4YNadiw4fnexuISJUJDePK6hmzad5zv1+x1W062qOrzQF8cT8UPqurzqpqqqoNdlmaxZCJQLYcngRLAGpy+VcVZY321eUEychinz/VbT4C3FaiIjDFWoBWAR7yuewQ/MH++M8s2JqZQr2ZqyYGbL6vO2HlbeWP2Zm68rDolw/Janwk8IlIOuAmo4RwKqhrQLteDx0+zeOuhc9Z0WLz1EGv3JNg1HSw58vrrr/sUL89jDqp6k6o+o6o3A6Hmf+esIhtPlUcyBGeyAlXVuara07MBZYDrgL+JSHhW9/Y2CDp48GCWYl944QVeeOGFPD6ipTAREiL88/qG7Dp8igkrdrstJzsmmv+3AnuBmoFOsHTJUB7/YnX6utGLtx7i8S9W06xWwdmFWIom//znP32Kl9eWQxkRuQNnpatmOG4DAJLzcI8IYJvZT8Dpoz0HVd0J3JXTTcySpePAMQjKKs5HHxXqheosPhLbMIrWdSvxn7lb6NmyFqVLhrotKSPhqvqhiPxNVT8wBmwBpVx4GG/fdTn3fbycS6uVZ9eRRLt+tMUn/v1v34aO89py6AnUBQYAFwI9xZljeFMe7pGA042E+X80jxrSyW0luHr16lGvXr58oFkKESLCv7o04sDx04xfvMNtOVlxwCz2s84spVu+IBJtXz+SyHIliduTwD1t6tiCweITQ4YM8SleXleCOwy8hbNm7gScsQNV1eN5uM0Szs797gwszYuGDHpyXAluzpw5zJkzJ7+3txQiWte9gI4Noxgz73cSEvPSUA08qtpLVZOA/sB/gOsLIt3FWw+x/9hpakaU4rNfd6V3MVksOfHyyy/7FC+vK8ENBqYDvwKfAzn224hICRGZAzQHZopIm4K0An355Zd9/iAshZ9B1zfkWFIK7y/YlnvkAsTMyhsIvIDjnTXgs5ROnE7h8S9Wc3HVctSqVIZ37rr8nDEIiyU7fB2HzeuYQ3dVbSci81Q1VkQm5BRZVZPJYrDaX1agItIV6NqgQYMsz3/66af+SMZSSGhSoyI3NavOR79sp8+VdYksl+VcBTeYArwBrC6oBBPPpPLRXZenr33Rvn4k79x1OWv3JNjuJUuO+Fo45HXM4bT5f0pErgYa5/F6v5Jbt1Lt2rWpXbt2AauyBJInOl9CUnIqY+ZtdVuKN/tV9UtVne/ZAp1gVPnwTIVA+/qRdhqrJVeGD/dtiXNf13OoIyJ1gAEi0hB4ymz/ybfCAsDjx9wSPDSoUo4eLZ3lRP9MKDTLiX5mplV/KiKfiMgnbguyWLLj2Wef9Smer+s5pOG4697gHYzjtz6/C5ucN17dSg9u2ZJ5aUm7nkNwsvvwKa55fR49W9XmlR6X+e2+eV3Pweu6NcDDODYOQPp07IBRokQJTUlJyRRetWpV9u3bF8ikLUWc5557Ln0sNqc872vh0BpnoK0JsBGYpKqFZqWR7BY+8bwk1apVK2hJlgDz/Hfr+XLZLuY+FcOFlcv65Z7nUTh8CtxvxtgKBBHJ9sX15Z22FF8SEhLwdMXnlOd9XUN6uao+q6q34Pg8el9E3veT1oBRrVo1WzAEKf+4pgFhocLoOZlbjC7QHNhl/IUtEJEFOUU21v1LzXaXCQsz3VKLzKxAiyUg+Oo+w6fZSiISCXTHsU9IAkYAP+ZXXEExdepUALp27eqyEou/qVKhFH9vV5dxC7fxSGx9LqlaIHZn5yAiw3H8i03J46WzVHWciJTAsfP5AugGbFLVe0XkBxGppqq2f8jid5544gmf4vk6W+lPnOULdwN/4LjOGOz2eg65WUi//vrrPpeSlqLHwzH1KVsyjDdmbXZLwhxgrvmfccsWVd1hdlPMBuf6HPsZyLQ+qrc/sfNWbim2vPVWls6wM+GrnUOWjvXcRlWnAlOjo6MfzOr8xIkTswq2BAmVypbkgasu4q25W1i75yjNakUUaPp+mLL6MGdbHRHAMbOfYI4zppfuTyynMQeLJScef/xxn+L5OuYwP7vtvFQGmMjISCIjrUFQMNO3w0VElCnBa+61HrJFRKqJyLwM21fmXBvgRs4uoJUnn2NhYVnX66pWreoP6ZYgZsyYMT7FK3zO8f3I5MmTmTx5stsyLAGkfKkSPBxTnwWbD7Js+2G35ZyDqu5T1dgMW28RqQm8DvxdVVNNdG+fYx1xpo5nS/PmzVFV7hi7mDvGLkZVUVU7jdWSKw899JBP8Yp04ZDbmMPbb7/N22+/XcCqLAXN39vVJap8OK/NjC8q0ziHAlWByaY1URqYCjQVkUXAElX901WFlqDl/fd9m2hapBdAz23MYcqUvE4isRRFSpcM5R/XNGDolA0s2HKImEui3JaUI6qaXdXt7gIVYimWPPDAAz7FK9Ith9yoWLEi2fldsgQXvVvXoWZE6aLUerBYXGH8+PE+xQvqwmHChAlMmJCj41hLkFAyLIQBnS9m3R8JzNxg+90tluy49957fYoX1IXDmDFjfB6ZtxR9elxek3pRZXl91mZS02zrwWLJis8//9yneEW6cMhtQPrHH3/kxx8LvSG3xU+EhYbwROdL2HLgBN+v+cNtORZLoeTOO+/0KV6RLhxyW8+hTJkylClTpoBVWdzkpsuqc2n1Crw5ewvJqWluy7FYCh2+drUX6cIhN9555x26d+/Om2++yeDBgzlx4kT6uWbNmrFixQqSkpKoV68eO3bsyPY+WX2Y8+bNY8iQIRw4cCAQ0i35JCREGHTdJew6fIpvVuxxW47FUujo2bOnT/GK9FTW3Bg1ahS1a9fO0tFUTEwM06ZNY+PGjdxwww3nnBszZgyPPPJI+vGSJUuoWrUqkyZNonLlylx11VVMnTqVypUr29lQhZBrGlXh8joRvD13Cz1a1qRUiVC3JVkshYZvv/3WJ+d7Qd1yuOuuu5g6dSq//fYb//znP9m27ezC9KGhoVSoUIG1a9dy8cUXn3Odd8HgzTXXXMOAAQNYvHgxl19+Od26dSM8vNCsY2wxiAj/vK4h+44l8dnSgK65Y7EUObp37+5TvKAuHPr378/rr7/OnDlzKFGiBCVLluTdd99NP9+3b18GDBiQfjx27FjS0tLOieONiCAipKXZvuzCTvsGkbSvX5kx87Zy8nTmFdMsluKKZymD3PBpJbjCSm7LhHqMPfr06VOguiyFg1W7jtDjvcUMuu4SHr/m4lzj53clODfwrH7Y679LAJjwUDuXFVmKCr///jsNGjQA/LASXGElt9lK48eP99ka0BJ8tKxTic6XVuG/C7aRcKrAVvC0WAo1M2bM8ClekS4ccqNPnz60bt2a0aNHnzNTyW127NjB6NGjAdIX+rYEhievbcjxpBTGLdzqthSLpVBw7bXX+hQvqGcreShdujQTJ05k+/bt3HjjjXz//fdUrVqVlJQUevfuzSuvvEKjRo3YsmULgwYNIi4ujptvvhmAYcOGUb16dVauXMmIESNYvnw58fHxnDlzhl69ejF48GDatWtHxYoV07uvhg0bRmRkJDExMSxdupT9+/fTuHFjGjRowKeffkr58uWpUKECSUlJlCpVivfee4/k5GQaNGjATTfd5OInFXw0rlGBm5tV56NFO+jT/iKiytsJBJbizdy5c2nYsGGu8YK65TB//nxKly6d7r+8e/fu1K9fnw0bNlChQgWOHDnCwoULufXWW7n//vsBqFWrVnrB4OGOO+7ghhtuYOPGjRw/fpyKFSuyatUqANq0acOAAQOIi4s755q77rqLxo0bk5SURK1atZg/fz7Tp0/n0Ucf5Y477gAcC+4uXbrQqlUrkpOTOXToUIA/keLJE9dewumUVN6b97vbUs5BRKaIyMtmv7yITBWRX0Tkb25rswQvHTt29CleUBcOv/76KzNnzkw/DgkJITIykmbNmpGYmEiTJk3o0KEDkydP5qOPPgJg9+7dmUbzvWcpbdy4kfDwcJKTk9PPZUVISAiJiYns3r2b0NBQUlJS6NKlC59//nn6/detW0fTpk05fPgwpUuXZtOmTYH4GIo99aPKcVvLWny+dBd7jya6LQcAEWkGlPYKehD4Crga6CsiJV0RZgl65s/3cQFPzwpSRXlr1aqV+oMBAwb45T6+8vPPPxdoesWZ3YdPaoNnpungSWuyjQOs0ALKs8AHwC3Ay+b4a6CK2f8P0Cyn6z15/o6xi/WOsYv98hlZigfr1q1L388pzwd1yyGveAaJC4rY2NgCTa84U6tSGe5tWxcRcX29BxFpBBzk3HWiI4BjZj/BHGe8rp+IrBCRFQcPHgywSkuwsmTJEp/iBfWA9HvvvQfAo48+6rISS2Hg+ZsvzbYbMBCISDWcriJv9uEUAkOBRl7hCUAFIMn8P5rxfqo6DhgHjp2D/xVbigNt2rTxKV5QFw6evn1bOFgg+/GhQKGq+4DYLHTMBMYDFwCVRWQ2sAToJCJfAy0AOwBlCQjLly+nWbNmucYr0oWDl4V0luenT59esIIsFh9Q1esBRCQW6Kyq80VkNfAF8A9gnKqecU+hJZhp1aqVT/GKtPsMDyJyENgJVMRpnmdFVucyhuV0nNV+JHC+809z0uxLHF+eK2OYL/vn+2y+PFdO8XwN9+d3dqGqRvmg2XW88rwv+COfFqZ0CjKtYH+m7PN8diPVRXHDqXH5fC5jWE7HWe3jh9ktOWn213P58ixZ7J/Xs/nyXDnF8zXcje+sqG0F9cwF+dnaZwp8OsE2Wyknd4NZncsYltNxdvvniy/3Ot/nyhhWWJ4rp3i+hrvxnVksQU9QdCu5hYis0CLixTOvBOuzBetz5URBPXNBfrb2mQKfTrC1HAqacW4LCCDB+mzB+lw5UVDPXJCfrX2mAKdjWw4Wi8ViyYRtOVgsFoslE7ZwsFgsFksmbOFgsQQxInKDiGwSkUVeYQFzDy4ijc19fxGR4f68dxZphYjIayIyR0S+CWRaJr10F+sBTKOfiCw1210BuP+bIrJQRN7KLa4tHCyW4GYp0DxDWCDdgz8MDFHVK4G2IhLhx3tnpCewUVU7q+rtAUwnKxfrgWKWqrYFOgBP+fPGItISKKeqHYCSItI6p/i2cPAjItJaRF4MdI2poBGRZiLynfEmGjSIyHUiMkRE/uO2lkChqkdU9XSG4LbAbFVNBdZwrgPA8yUeqCgioeY4Y9r+5GagiYjME5EHA5gOQH/gvQCngaruMLspZvMnbYHZZn8O0C6nyLZw8AERqSEiq0QkSUTCvMIzNtFuAYYBB0SkugtS84Svz6Wqa4Hv3NKZV/LwXLNU9RWghGti3SGCXNyDnwezgbdxCoklqhrI1ZWq4jgo7AzcLSJVA5FINi7WA83DwBQ/3zOCPHzvRdrxXgFyGOgEfOsJ8G6iiciY3JpohRSfnktVl7umMH/4/FwiMhD4n0s6/UZ27sFVtXcW0XN1D57f9AAB7gBWApNEpK5XbThf5JBWAjBfVVNEZAnQANgfgHSycrF+XuT0fYlIG+BGnMqmP/F87+DD924LBx9Q1SQgKYPL56yaaFNwMlGoqv5ZoCLzga/PJSIHgOuAS0TkxSy6KQoVeXiu1sAVACKyVIuw0Y9m4x48G87bPXh26Zl7HlbVNBFJAMrn9d55SGsg0AynlXIZ8G6A0snkYl1VfVxrM89p1QReB7qZbj9/sgR4CGfVwc44z5QttnDIPxHANrOfADRR1WXAMtcU+YcIMj/XTsDvMycKmAgyP9dLFEA/spuISDQwEmgqInNw+uk/IHDuwf8NfCoiqTiDxev8eO+MfAj8zxQSM1V1TyAS0SxcrAciHcNQnO6yyaZyc4O/uuZU1dPVuhCIM79X2WILh/yTpyZaEcI+VxChqitwaoneJOEUEoFIbyXQPhD3zoJWZtsGdBCRyqr6V24XiUhdnLW778lLYqo6D5iXd5l5SuOhAN9/gK9x7YB0/lmC068Nzsu31EUt/sQ+l6Uo8amqdsQZN7rTbTHBhC0cfEBESpgmeXNgpoi0UdVVOP3aC4HU3JpohRH7XJYgIgJARIaaqa0/iUhdkxfmisgCEZnkNcXWkgvW8Z7FYimSmDGA/+FMMy2D03J4VFUfEpFLgYE4U0JLqWqisW6eD2whH91KxQ075mCxWIoyn6rqcyIyHmfqZ6yIzDPn/gTKAuPMLKCqOAXDFhd0Fjlst5JLiEiqiMSJyBpjsJWnQTwRGS8iPf2go4+IvHO+97FYPIjIsyKyQUTWmjzexoQPFJEyAUr2FZzpyrNUNVZVY4G/AdcDm1U1BpiEY4dh8QHbcnCPRFVtASAi1+Nk7hhXFVks54mItMOZCdVSVU+LSCTg8d00EPgMOOXnNMNUNV5ESgD7TMtBgS+BH4FnzZTeBGyrwWdsy6FwUAE4AiAOo0RkvYisE5FeXuHviEi8GWyt4rlYRFqJyHwRWSkiMyUL1x2mpTFWRFaIyGYR8Z7KWENEZojIFhF51euaMSb+BhF50St8pIj8ZmqGr5mwKDPgt9xsV/r9U7IUBaoDhzyGkqp6SFX3ikh/oAbws4j8DOm+rZaYlvM3IlLOhO8QkVdN/l8mIg0yJiIiw4AHgI44dhVROD/+t+B0JT2nquOA+ji/c7WAxjith7pAHRGZZt6nsSISYu57p0l3vYj82yu9EyIywrT0l4px1SEit5u4a0RkgQkLNe/wcvOOBHR6asBQVbu5sAGpQByOdWoC0MqE34ZjyRuK00e6C+eF6+EVXgNnnn5PHL9Ai4Eoc30v4KMs0hsPzMB5US4G9gClgD4488QrmuOdQG1zzQXmfyjO/O5mQGUci1TPZIYI8/8L4CqzXwfHAMr1z9luBZ6vy5l8vRnHwDDG69wOINLsRwILgLLm+GlgqFe8Z83+34AfskhnGI6LjtLmOMv8B0wFrvTSFoZjmZwE1DN5e7Z5l2qY9y3KxPsJuMVcq0BXs/8qTuEDsA6oafYjzP9+XufDgRXARW5/N3ndbLeSe3h3K7UDPhGRpsBVwJfqmM7vF5H5QGsc98qe8L0i8pO5T0OgKTBbHIvKUJyBuKz4WlXTgC0iso2zvmLmqmqC0fIbcCGwG7hDRPrhvCjVcWpev+G8WB+KyA/AD+YenYHGctZlRQURKaeqJ/L9CVmKHKp6QkRa4bic7ghMEJHBqjo+Q9S2OPnpF5NnSuLYonj40uv/m9kk972etR7OMv8BvwBviMjnwGRV3WPiLFPVbQAi8iXOe5cMzFPVgyb8c5z37jvgDGfz+krgWrP/CzBeHLchk03YdUAzrzHBijgVsu3ZPEehxBYOhQBVXWL6ZqPycbkAG1Q1R/e7nqSyOfb2lZQKhInIRcAgoLWqHhFnNkgpdZycXYFjUNYTeBy4BqdF0lYdv0aWYoypwMwD5onIOuDvZPbjIzhuw7MzXNNs9r056bWfXf4bKSLTcBzZ/WLG97K6Z25z+pPVNAUw7wiAqj5sBtxvAlaaglGAf6jqzFzuWaixYw6FAHFcAocCfwELgV6m3zIKp+ayDKcJ7gmvjlMrA6eLJ8q0PjwGYE2ySep2cVbPqo/TpI7PQVYFnJcvwfSv3mDuXw6oqKo/Ak9wdiGZWTi+ejzP1CIvn4ElOBCRhiJysVdQC5yuSoDjnHXEtxS40jOeICJlReQSr+t6ef33blFkR5b5T0Tqq+o6Vf03sJyzreUrROQiM9bQC1iE857FiEikOMZyd+LYReT0vPVV9VdVHYpjb1EbmAk8Is4AOSJyiYiU9eEZChW25eAepUUkzuwL8HdVTRWRb3E8vK7Bqc38S1X3mfBrcLp1dmFeGFU9Y5qvb4tIRZzvdDSwIYs0d+G8ABWAh1U1o+fSdFR1jYisxhkT2Y3TfAbn5Z4iIqWM7idNeH/gXRFZazQswDFAshQvygH/EWcFuBTgd5w+eIBxwAwR2auqHUWkD/CliISb88/hjFUAVDJ56TS+ucXILv8NFJGOQBrOOzEd5/1aDryD4+b7Z+BbdTzJDjbHAkxT1dzWVBhlCkMB5uK8t2txBr1XifOCHcT/7rcDjrWQLiaYbqEfVHWi21oslpwQkR1AtKoeCtD9Y4FBqhoQ54PBgu1WslgsFksmbMvBYrFYLJmwLQeLxWKxZMIWDhaLxWLJRKEuHETkTRFZKCJvua3FYrFYihOFdiqriLQEyqlqB3F8/LRW1eVZxY2MjNS6detmCo+Pd6bxN2zYMJBSLUHCypUrD6lqfgwRC5zs8rzFkhdyyvOFtnDAMa+fbfbncHZuMgDGrUM/gDp16rBixYpMN7juuusAmDVrVoClWoIBEdmZe6w83a8GjsuFxjgVnRSvc02BsTjz4x9R1bVZhWV377p162aZ5y2WvJBTni/M3UoRwDGzn2CO01HVcaoararRUVFZV/bOnDnDmTNnAqnRYsmJwzhuRrJar3o4jnHXHWY/uzCLxRUKc+GQgGPJi/l/1D0pmflkyQ46vzGf+z5exgtT1vPBwm3M3LCP3/Ye43hSstvyLIUAVU1S1SPZnK6kqrtV9Q/OVnyyCsuS+Ph4xo8fD0BycjKxsbF89tlnAJw6dYrY2FgmTJgAQEJCArGxsUye7PiFO3ToELGxsUydOhWAffv2ERsby4wZMwDYvXs3sbGxzJkzB4Bt27YRGxvL/Pnz09OOjY1l8eLFAKxfv57Y2FiWL3ca9nFxccTGxhIXFwfA8uXLiY2NZf369QAsXryY2NjY9G7f+fPnExsby7Zt2wCYM2cOsbGx7N69G4AZM2YQGxvLvn37AJg6dSqxsbEcOuTYyE2ePJnY2FgSEhIAmDBhArGxsZw65Swb8dlnnxEbG0tysvNejh8/ntjY2PTP8v3336dz587px++99x433HBD+vFbb71Ft27d0o9fe+01brvttvTjkSNH0rt37/Tj4cOHc889Z1cgHTp0KPfdd1/68ZAhQ+jXr1/68aBBg3jsscfSjwcOHMjAgQPTjx977DEGDRqUftyvXz+GDBmSfnzfffcxdOjQ9ON77rmH4cPP1i169+7NyJEj049vu+02XnvtNXKjMHcrLQEeAr7G8bg43lU1GahSvhT1o8qy+3AiK3Yc4fjplHPOV60QziVVy5utHBeb/XLhhfkjtxQg3hUzySHsbIBXV2p4eHjG0xaLXynURnBmllJLIE5V/5FdvOjoaM2q/9VTO5g3b15gBBpUlYTEZHYdPsXuw4nsPHyS3w+cYMv+E2w5cJyk5DQARKBBVDma146ghdkaVitPidDC3IArPojISlWNDsB95wGdM4w5zFdn6UpEZJ6qxmYVlt09s8vzFkteyCnPF+pqrKoOcFuDL4gIEWVKElGmJM1qRZxzLjVN2XPkFJv3n+C3vcdYs+coP206wMSVewAoXSKU1hddwJX1K3Nlg0gaV69ASIhd5rYYcFhEauE4hDuWQ5jF4gqFunAIBkJDhAsrl+XCymW5tnFVwGlp7DmSyOrdR1m54zC/bP2LV6ZvAqBSmRLEXBLF9U2qEdMwijIl7VdUVDEum6fjuDWfKSIv4axWNgJ4AZhgono6nLMKs1hcwf7yuICIUPuCMtS+oAzdmtcAYP+xJBZvPcTCLYf4edMBvovbS3hYCFdfEsXNzapzfZNqlCoR6rJyS15Q1WSc8TJv5ptza4ErM8TPFGaxuEWRLhxEpCvQtUGDTOuPFzmqVijFrZfX4tbLa5GSmsayHYeZtWE/MzfsY/Zv+ylfKoyuzWtwe6tatKgdQXbrMFgsFos/KNKFg6pOBaZGR0c/6LYWfxIWGkL7+pG0rx/J0Jsbs3T7X0xcsYfJq/bwxa+7aFarIg9cdRE3XlbdDmZbLJaAYH9ZCjkhIUL7+pG80asFy57tzPBbmnIiKYUBX8UR8+rPfLBwG0nJqW7LtFgsQYYtHIoQFUqV4N62FzLnyRg+/Hs0tS8ow8vTNhIz6mc+/3Unyalpbku0WCxBgi0ciiAhIUKnS6sy4aF2fPlgW2pVKsOz367n2jfm83P8AbflWSyWIMAWDkWcdvUrM/HhdnzUJ5rQEOG+j5fz0Kcr+ONootvSLBZLEcYWDkGAiHBNo6pMH3A1/+rSkAWbD3HtG/P5atkuCrMFvMViKbwU6cJBRLqKyDiPw63iTsmwEB6NbcDsJ6+mRe0IBk9ex4OfrOTQidNuS7NYLEWMIl04qOpUVe1XsWJFt6UUKmpVKsNnD7ThuZsuZcGWg9z41kJW7szOOajFYrFkpkgXDpbsCQkR+naox5THrqRUiVB6j1vCl8t2uS3LYrEUEWzhEORcWr0C3z9+JW3rVWbI5HW8NPU30tLsOITFYskZWzgUAyLKlGT8fVfQp31dPvplO098HceZFGsTYbFYsqfQFA4iMkVEXjb7fUQkXkTmicirbmsLBkJDhBe6Nuaf1zdkStxe+n6ywlpWWyyWbCkUhYOINANKZwgepaqxqvovNzQFIyLCYx0bMLLHZSzccpCHP1vJ6RRbQFgslswUisIB6A+8lyFsoIgsEJFOWV0gIv1EZIWIrDh48GDgFQYRva+ow4hbLmNe/EH+8cVq63YjQIjImyKy0Kxo6B3+lWkVLxGROBM2TETWmPAnXRFssXjheuEgIo2Ag8BRr+DvgGbAbcBrIpJpIQNVHaeq0aoaHRUVVRBSg4q72tRhWNfGzPptP09PWmuN5fyMiLQEyqlqB6CkiLT2nFPV3mYJ0FeBH7wue8q0lt8oWLUWS2YKzGW3iFQDvsoQvA9nOcShQCNPoKoeNbsHRWQzUBXYWwAyixV9rryIhMQU3pyzmbqVy9K/08VuSwom2gKzzf4coB2wPEOcW4HRXsf/FpEjwCBVjct4QxHpB/QDqFOnjp/lWiznkm3hICI1gEdwMnkJE3wGWAaMUdU/8pKQqu4DYrNIZyYwHrgAqCwis4HVqnpMREoDF+O0LCwBoH+nBuw8fJI3Zm+mzgVluOXymm5LChYigG1mPwFo4n3SLCF6maquMkFvq+owEbkY+AjokPGGqjoOGAcQHR1tm3qWgJJTy+EfwGeq+rx3oIg0AR4HhvhDgKpeb+4bC3RW1fki8oKIdMHp9hppllu0BAARYWSPZuw9msi/Jq6lXlRZmtWKcFtWMJAAVDD7FTi32xScitI8z4GqHjb/t9hV/iyFgWzHHFR1iKpuyCJ8g6r6pWDIcN95qvqc2X9RVdupahtV/drfaVnOpWRYCGPubkVU+XAe+WwVR0+dcVtSMLAE8Eym6AwszXD+VuBbz4GIVDD/IyniKzRagoNcB6TNbIt4EVls/i8Qkaki0rYgBFoKhkplS/Lu3S05cDyJp75eY62ozxPTXZQkIguBVGCXiDwLIE7ToB2wyOuSUSLyCzAVGFzQei2WjPgyW+k3oKOqtgc6ApuAh4C3AynMUvC0qB3B8zc3Zu6mA4xbuC33Cyw5oqoDVLWDqv5DVfep6ggTrqp6uaqmecV9SFWvNC3m+e6ptlgcfCkcWgGHzf4RoIWq7gVOBUyVj1iX3f7n3rYXcuNl1Xh9Vjwb9trP1WIprvhSOLwEzBGR+cBMYLixOxgTUGU+YF12+x8RYcQtl1GpTEmenLDGutiwWIopuRYOqvo9TnfSnap6tflBTlXVCYGXZ3GDSmVL8u+ezYjff5zXZ8W7LcdisbiALwPSfwd+BKaLSKiIfBN4WRa36diwCne3qcMHi7azYsfh3C+wWCxBhS/dSn1V9VrgsKqmApUDrMlSSHjmxkupUbE0gyevsw76LJZihi+FQ4qIlAPUWCzbOY7FhLLhYbx8S1N+P3CC/863s5eyQ0SeynDczy0tFou/8KVweBqYCFxq/ts52MWIjo2q0LV5Dd756Xd+P3DCbTmFChGJEJH6QE8RqWe2S4Db3dZmsZwvuVpiquoyoEsBaMkzItIV6NqgQQO3pQQ1Q29uzPz4AzwzeR1f9WtLSIh172CIAW4B6gLPAQIkA2Pdk2Sx+IecHO/9TDZdSKp6TcAU5QFVnQpMjY6OftBtLcFMVPlwnr3pUp6etI5Jq/Zwe3RttyUVClR1CjBFRGqr6m639bjNydMpLPr9EHG7j7Lrr1McP51CydAQosqXpG7lslxWqyIt61SiVIlMHvgthZBsCwdV7QggIm8A3wArgZY4NSVLMeP2VrWZsHw3/56xieuaVKNi6RK5X1R8+EREFKflUA04qKpXu6ypwPgzIZH3ft7KxJV7SExOpUSoULtSGcqXCuN0Shpxu49w6ITjr6tkWAjt6lWmS9Nq3NC0GhFlSrqs3pIdvjj4aouzCImKyDLgzQBrshRCQkKEl7o3pes7ixg9ZzMvdG2S+0XFBE9FCtId5w11UU6Boap89MsOXp8VT0qq0r1FDW5tWZPoCy+gZNi5w5lHTp5h9e4jLNryF3M27mfI5HUMnbKezpdW5Y7Wtbn64ihCbXdlocKXwmE8sEREdgAXmmNLMaRpzYrc3aYOnyzZSa/WtWlUrULuFxUDRMT7l7AUcJVbWgqKxDOpDJywmpkb9nNNoyq82K0JtS8ok238SmVLck2jqlzTqCrP33wpG/YeY/KqP/gu7g+mr99HzYjS3BFdm16ta1OtYqkCfBJLdvgyID1ORD4EIoFDxtbBb4hIHZwCJwx4R1W/FpEw4GPgIuAHVR3pzzQt+WfQdQ2ZtvZPhk7ZwIR+bbFrDwAwl7Pjc0eBZ92TEniOJSXzwPjlrNh5hOduupQHrrooT/lARGhasyJNa1Zk8A2NmLNxP18u28Wbczbz1tzNXNOoCr1a1yG2YRQlQl1fybjYktOA9EjgU7N+Qyqw34Q3Ae7x45oOT+O8TMtwrLAnA92ATap6r4j8ICLVzEpyFpeJKFOSf17fiGe+Xcf3a/bSvYVdOU5VO5qV3aoA+1U1BUBE3gSigVWqOsATX0TG40wNTwTGqeoXZuXFz3BaHkNVdU4BP4ZPnE5Jpd8nK1i96yj/ufNybm5W47zuVzIshBsvq86Nl1Vn518nmbB8N9+s3MOcjSuILFeSm5vVoFuLGlxeO8JWRAqYnFoObwOPmHUbPKOPycCvwDt+1FAPWKuqqSKyH2dZ0LY4NhUAPwNXAN/7MU3LedCrdW2+Wr6L//txI50urUq58OK9No2I9AX6ADuBC0XkfzgTOMqpagcRGSMirVXVew3pu1X1d6/jwcDzwBrgB5x1pwsVqsrTE9eydNth3uzV/LwLhoxcWLks/+rSiCevvYR58QeZtGoPXyzbxfjFO6hRsRSdLq1Kx0ZRtLmoMmWLeZ4rCHKarbQXJ7MGmnggRkTm4RQKEWY7Zs4nmONzsIutu0doiPBitybc+t5i/jN3C0NuvNRtSW5zP3CVqqYZj8WLcCpUs835OTiL+3gKB8WZ4fQX8Liq7gQuAwaYiR/HRaSCqh6jEPHZr7v4Lm4vT3S+hFsvrxWwdMJCQ+jcuCqdG1clITGZuRv3M339Piau3MOnS3cSFiI0qVmRy2tH0LRmRRpWLc9FUWX9VklJSk7lWGIyCYnJHEtK5lhiCseSkjmelMKJ0ymcSErh5JkUTp1OJTHZ2ZKSUzmTksaZ1DSSU9NISVVS0pTUNCVNzZZ2bjoizhYiYraz+yLOexYacvbc2X0hJCTzdWKuE87e1zkW/nPn5Xm2Tyqw4ldEqgFfZQjeBwwA/gs8hrOQ0H4yr7/7e4br7GLrLnN5nUrcEV2LDxdtp2erWlxctbzbktxkBXCFiMQBzYFfgErAdnM+AfCe3vWUqh4WkauA14GeQKiqqlf8CM5WkAB3K0Tx+44zfOpvxDaM4h/XFJzRacXSJejRshY9WtYiKTmVFTuOsGTbIZZvP8KE5bsZv3hHetwLypakaoVSRJYrSUSZkpQLDyU8LJSwECEkREhLc36wT6ekcTo5lVNnUjl5JoXjSSkcT0rmWFIKxxKTOZ2Slr0gnB/esiXDKFMylDIlQylVIpTwEqGEh4VQLjyMEqEhhIUIYaFCaEiI14+380MNoCjmzxQekJamKJ4CxTlOUyXV7HsKmpS0NNJSz73Os+/JQqrO+fP5YSywwsGMGcRmc/oW47fpU5wXyrP+7jIcd+FfFoRGS954uksjZm7Yz/NT1vPlg8V6cPoy4JUMYTWBO4HpOBWco54TqnrY/F9kxvYAvH+RzonvdZ0rFaLk1DQGfbOG8qXCeP325q5ZyJcqEcpVF0dy1cWRAKSmKdsPneT3A8fZevAkfxxNZH9CEodOnmHPkUROnE7hdHIqKebHM0SEsBChZFgI4WGhlA0PpWx4GOVLhVEzojTlS4VRsXQJKpitotnKlwqjQqkwKpQqQblSYZQuEVos8nquhYNpJt8ORAHvAS0z9J2eFyJyEzAIZ53dp02zeipwm4gsAn5U1T/9lZ7Ff1QuF87TXZzB6Slxe7nl8mI7OD3CewDZtAhO4SynC9AZryngni4jEWnI2UJgrYi0A9YChapL6aNF21n3RwLv3d2SyuXC3ZaTTmiI0KBKORpUKee2lKDEl3lin+E0ce80s5Yy1pDOC1WdpqodVbWzqq40YcmqereqXqWq/+fP9Cz+pXfr2jSvHcHL0zaSkJjsthy3eCbD8ZOqugpIEpGFOBWfXSLimeL6uan4fMBZR5avAiNwxicKTZ7fl5DEW3O30PnSKtx4WXW35VgKEF+6laJUdayI3BFwNZYiR0iIMOKWpnR7ZxFvzIrnxe5N3ZZUYIjIfTiD0ZeJyAKcsUDF6Q7Fe/qqYYQJ75rxXqq6BygUPsu8eWX6RlLSlKE3W4v44oYvhcMBEekFlBaRWwHbxWM5h6Y1K3Jv2wv5dOlObo+uTdOaxWNNb1X9GPhYRLoaJ5BBxfo/EpgSt5fHOtanTuXsrZ8twYkv3Ur344w3rAJqAYXGA6qIdBWRcQkJCW5LKfY8eV1DLigbzrPfrSctrdhNHushIh95b24L8gf/nrGJSmVK8FBMfbelWFzAl8Khkaq+A7wIlMbxXV8oUNWpqtqvYsXiUVMtzFQsXYLnbrqUNbuP8vmyXW7LKWiG4bwfLwHfAn+5qsYPLN32Fwu3HOKxjg2oUMp64C2O+FI4vG7+vwTsxvF5ZLFkonuLGnS4OJKRP25k9+FTbsspMFR1p9l2mO6lNm5rOl/emrOFqPLh3NP2QrelWFzCl8KhjIiEA+Gq+iVwJsCaLEUUEeGVHpchIgyevDbdICfYEZEFXtsy4Ce3NZ0Py3ccZsm2v3jo6np2YZ5ijK9TWacAY0WkFGetPi2WTNSqVIZnbryUX37/iy+CvHtJHB7CsWlIwXGk9xFOK7vIMmbeVi4oW5K729hWQ3Em18JBVd9V1S6q+quqJqlqnwLQZSnC3HlFba5qEMn/TQv67qVRODZA3c3Sud3M8Wsuajov4vcd56dNB+jTvi6lS9pWQ3Em18JBRO4RkUUi8peIbBORFQUhzFJ0ERFG3nYZISIMnBBHcmrOvmqKMC1V9d+qehpAVU+btUcud1lXvhm3YBulS4Ryrx1rKPb40q3UH4gB1gGXAOsDqsgSFNSqVIb/63EZK3ce4c3Zm92WEyjCTFdrOsZHWJGsch84nsT3a/7g9uhaVCpr13Yu7vhiBHfSrLWQDNQAWgRWku+ISFega4MGBecl0uI7XZvXYPHWQ4yZv5V29SvT4eIotyX5mxHATBH5BNiL42zvXgqR+4u88NnSXSSnKvddeZHbUiyFAF9aDiNN7ehFnEV+3gqsJN+xdg6Fn6E3N+HiKuV4YkIce48mui3Hr6jqTKAHziJYzXBm8vVU1RmuCssHp1NS+eLXnXRqVIWLIsu6LcdSCPBlQHomUBJnlat/4KyXa7H4ROmSobx3dytOJ6fx4CcrOHUmxW1JfkVV/1LVT8zYwyeqetBtTflh2to/OXTiDH2urOu2FEshwZcB6XHANzgth2Fms1h8pkGVcrx95+X89ucxBn2zpji61yj0fLJkJ/WiynJVg0i3pVgKCb50K12kqter6v2qep+q3p/fxETkBhHZZNwVe8L+boyHlovIoyasj4jEi8g8EXk1v+lZCg8dG1VhyA2N+HHdPl6fHe+2HIsX6/YkELf7KPe2vbBYLGJj8Y1sB6RFxOM+eK+IDMCZpaQAqppfC9ClOMsoendNfaGq/zOLCq3CWVAIYJSqfpDPdCyFkAc71GPbwZO8+/NWKpUpSd8O9dyWFFBE5E0gGljl7b5bRP4LNMV5nx5V1bUiMgy4FTgCfK+qbxSUzk+X7qBMyVBuaxW4daEtRY+cZit1wMm823AMe64y4Uo+3QOo6hHgnNqJqnpWiCkJbPSKPlBE/ga8qKp2nCMIEBFG3HoZCYnJvDxtIxVKl+CO6NpuywoIItISKKeqHURkjIi09lpBcaSqbheRi4GRwG0m/CnvFeUKgoRTyXy/Zi+3Xl7LOtiznENO3Uojga1AErAGeElVX1RVv7sGEJGhwBZgpQn6Dmf2x23Aa6ZVkfGafiKyQkRWHDxYJMcAiyWhIcLo3i24qkEkgyet5esVu92WFCjaArPN/hygneeEqnpc0CTjrBLn4d8iMkdEWhSIQmDy6j0kJadxd5s6BZWkpYiQU+HwFY5dw2qcpvHbvt5URKqZ8QLv7avs4psCpz5wu4hUVtWjqppmZn5sBqpmcc04VY1W1eioqKCbPx/UhIeFMu5vrbiyQST/mriW/y3e4bakQBABeNaBTjDHGXmFs+/V26raCngE+E9WN/R3hUhV+fzXXTSvHVFsFmiy+E5O3UoVVXWU2Z8lIj537ajqPiDWl7giEm7cD5zBcWB22msB9tLAxYBtGgQZZUqG8cHfo3n8i9W88P0Gjp5Kpn+nBsE0IJoAVDD7FYCj3idFZCDwm6ouAlDVw+b/luw+A1UdB4wDiI6OPu8pX79uP8zvB04wqmez872VJQjJqeVQT0Re8mxAfa/9fCEi0SIyB2hqms+lgCEiMg/4BZigqieAJ0RkCTAPp3+22K5cH8yEh4Xy3t0t6dGyJm/O2czACXEkJafmfmHRYAnQyex3xpmMAYCIXAe0B172Cqtg/kfim+eC8+bzX3dRoVQYNzerURDJWYoYOWXCv2c4Pu9BYVVdgfOieDMsi3gv4thVWIKcEqEhvH57c+pHlWPUzHh2/nWKMfe0pHrF0m5LOy9UdZWIJInIQiAO2CUiz6rqCJxuo2PAzyISr6oPAaNEpClOhW1woPUdOnGaGev/5J62F1rvq5YsybZwUNX5BSnEUnwRER7r2ID6UeV48us4bnhrIaN6NufaxpmGmooU3tNXDSNMeMMs4j5UIKIMX6/YTXKq2jUbLNniixGcxVIgdGlajR/+cRU1I0rz4CcreP679Zw8HVzuNgoDqWnK50t30a5eZRpUKee2HEshpUgXDiLSVUTGJSQkuC3F4ifqRZVj8qPtuf/Ki/h06U6ue3MBP2864LasoGJe/AH+OJpo14e25EiRLhysV9bgJDwslKFdGzPx4XaULhnKfeOX89gXq4J9VbkC439LdlKlfDjXNSna3XaWwFKkCwdLcBNd9wKm9b+KJzpfwpzf9tPp9fmMmPYbR0+dcVtakWXrwRMs2HyQe9peSIlQ+/pbssfmDkuhJjwslAGdL2beP2Pp1qIGHyzaTod//8yrMzZx6MRpt+UVOT5ZvIOSoSHceYW1iLbkTFAXDvv27WPr1q088sgjbNiwAYBu3boxceJEANq3b8+8efOyvf7rr78mNjYWgNOnTzN69GhGjBjB/fffz4kTJ3jggQcYNWoUb7991nh81apVPPfcczz55JOcPHmSWbNmERsby9GjR7NMY+DAgf541KCnesXSvHZ7c37s34GrLo5kzPytXDnyJ16Ysp7fD5xwW16R4OipM3yzcg83N69OVPlwt+VYCjkFYmzjJlWrVqVPnz4sWbKEJk2aUK9ePdasWUNUVBQtW7Y8J+7nn39Ot27dKF++PAB33HEHixcvBiA8PJyBAwcybtw4rrvuOsLCwjh+/DgHDhzg6quvTr/Hl19+ySuvvMLixYuZPXs2t9xyS/o9PKgqTzzxBJdeeik7duzg9OnTDBkyhAsvvJDy5csTHR3Np59+StmyZYmIiLAFiBeXVq/AmHta8fuBE4xbsJUvlu3if0t20rbeBdzV5kKub1KV8DA7bz8rPlu6k1NnUnkwyL3hWvxDULccAPbv38+0adPo0aNHeljjxo358MMP6dSp0zlx77777vSCITuWL19O69atOXDgAL1792bUqFEsWLDgnDi5uYA4cOAAFStW5KGHHqJatWqsW7eOY8eOUbFiRQ4ePMj06dN55JFH6NatWx6ftvjQoEo5Xu3ZnMWDO/GvLg3ZcySR/l+u5ooRc3l64loWbjlISmqa2zILDUnJqYxfvJOYS6K4tHqF3C+wFHuCvnCoWrUqL730El9//TVpac6PRc+ePXnhhRfSf8QnTZrEvn37+OSTTzh+/Hj6tT/99BOrV6/m/fffB2DBggXprYQyZcowY8YMRo0aRZMmTdi0aRNz586ld+/eDBs2jClTptC5c2dWrFjB0qVLGTNmDKmpjmuIKlWqkJiYyDfffMO+ffto2rQpkZGRJCUl0bRpU7p06cKYMWOYMmUKYWFB37g7L6LKh/NobAMW/LMj/7v/Cq5pVIUf1u7l3g+X0eb/5jJ40lpmrP+TY0nF2wPLl8t2cejEaR6Oqe+2FEsRQVSL7pKNItIV6NqgQYMHt2zZkum8Z7wgp3GFwsipU6f47LPP2LFjB/fccw+NGzd2W1KRIik5lXnxB/lh7V7mxx/k+OkUwkKElhdWokuTatx/1UVZXiciK1U1uoDl5ovo6GhdsWKFT3ETz6Ry9aifqR9Vlq/6tcv9AkuxIac8X6Srpao6FZgaHR39oNta/EmZMmXo16+f2zKKLKVKhNKlaTW6NK1Gcmoaq3YeYd7mg8yLP8jCLQezLRyClfGLd3Dw+Gnevatl7pEtFkORLhxyY9++fZw8eZLRo0fTt29fypXLu6uAVatWMXnyZE6dOsXw4cMpW7YsABMnTmTbtm2kpqbSt29fPv/8c/bs2UOFChUYOnSoz/cfOHAgo0ePZtSoUfTv35/wcDuLxJ+UCA2hTb3KtKlXmae7NOJMSvEah/gzIZH//LSFzpdW5YqLLnBbjqUIEdSFg4fSpUszceJEtm/fzo033sj3339P1apVSUlJoXfv3rzyyis0atSILVu2MGjQIOLi4rj55puBrGcfAXTq1IkVK1ZQqlQpoqKiGDhwIC+88AJ9+/ZNT3f8+PHpaW7fvp3du3dTsWJFbr755vQ0PSQlJTFt2jQ2btxI/fr16d27d4F+RsWFkmFBP8yWjqry0tTfSE1TXuhquyYteSPo35SqVavy0EOOw8vu3btTv359NmzYQIUKFThy5AgLFy7k1ltv5f777wegVq1a6QWDh6xmH1WqVImRI0em1/RPnz7NX3/9RY0a5/rG7969O23atOHEiRNERkby66+/snDhQnr06MEDDzwAOK2Tyy+/nKZNm1KiRAnssqcWf/Dp0p1MX7+PgZ0vofYFZdyWYyliFGjhICI3iMgmEVnkFdZYRH4x23ATVl5Eppqwv/kr/ZCQECIjI2nWrBmJiYk0adKEDh06MHnyZD766CMAdu/ezdSpU9OvyTj7aOzYsaSlpTFq1ChGjhxJYmIiABMmTKBXr15ZpgmwadMmSpYsSXJyMh06dGDWrFlMmDABgJkzZ3Lddddx4MABypUrx6ZNm/z1yBYXEZE3RWShiLyVIbypiCwy+btZdmHnw3er/2D4D79xTaMqPHS1tWuw5ANVLbANqASEA4u8wt4Grjb7s3HW2n0SuBsIBRYAJXO6b7ly5fTjjz9WVdUzZ85oTEyMfvrppxoTE6MdOnTQmJgY/eqrr1RV9ejRoxoTE6OTJk1SVdWDBw9qTEyMfv/99zpgwAD9888/NSYmRqdPn66qqrt27dKYmBidPXu2qqpu3bpVY2JidN68eaqqumnTJo2JidFffvlFVVXXrVunMTExumzZMlVVXb16tcbExOjq1atVVXXZsmUaExOj69atU1XVX375RZs3b66bNm1SVdV58+ZpTEyMbt26VVVVZ8+erTExMbpr1y5VVZ0+fbrGxMTon3/+qaqq33//vcbExOjBgwdVVXXSpEkaExOjR48eVVXVr776SmNiYvTkyZOqqumfy5kzZ1RV9eOPP9aYmBj1MG7cOO3UqVP68bvvvqtdunRJPx49erR27do1/XjUqFHao0eP9ONXXnlFe/XqlX780ksv6d13351+/Pzzz2ufPn3SjwcPHqwPPvhg+vFTTz2ljz76aPrxgAEDdMCAAenHjz76qD711FPpxw8++KAOHjw4/bhPnz76/PPPpx/ffffd+tJLL6Uf9+rVS1955ZX04x49euioUaNUVRVYof7L6y2B983+GKC117lvgdpATWBKdmE5ba1atdKMpKWl6SeLt+s9HyzVC5/+QW8fu1iPnjyTKZ7F4iGnPF+gLQdVPaLOetHexAMVRcRj1noaaAvMVtVUYA3QKMM15yy2npyc9Rz2Fi1acNlll/msb/To0T7H9ScRERGupGsJKG1xKjsAcwDvOaSVVHW3qv6BUxnKLuwcvPN8Vl2PIsKkVX/wx9FE+l/TgM8eaEPFMiX89TyWYoYrdg4iskhVrzL7lwAzgVTgC1UdKiKzgG6qmiQiLwOzVHVBdvfLy5xviyU7/GnnICLPAKtUdYaIdAbaq+pL5twCVb3aez+rsJzun12eP56UTPlStkCw+EaB2zmISDXgqwzB+1Q1qyk4w4E7gJXAJBGpCyQAFYAk8/9oIHRaLAHEk4chcx72rpGl5RCWZ2zBYPEXASkcVHUfEOtjdAEOq2qaiCQA5YElQCcR+RpoAdgRWktRYwnwEPA10BkY73XusIjUwikEjuUQZrG4RkHPVooWkTlAUxGZIyKlgH8Dn4rIQuCMqq4DPsAZkF4IfKSqdnUXS5FCVVcBSSZfpwK7RORZc/oFYALwDTA0hzCLxTWKtG8lDyJyENgJVMRpzmdFVucyhuV0nNV+JHAo38Kz15WXOL48V8YwX/bP99l8ea6c4vka7s/v7EJVjfJBs+t45fms8Ee+DDSFXWNh1wf+0Zh9ns9uGlNR3IBxeTmXMSyn46z28cPUx5w0++u5fHmWLPbP69l8ea6c4vka7sZ3Vti3ovCMhV1jYddXEBqDzUJ6ah7PZQzL6Ti7/fPFl3ud73NlDCssz5VTPF/D3fjOLJagJyi6ldxCRFZoEXHxnFeC9dmC9bm8KQrPWNg1FnZ9EHiNwdZyKGjGuS0ggATrswXrc3lTFJ6xsGss7PogwBpty8FisVgsmbAtB4vFYrFkwhYOFksRJi+eX90iB43/NfoWuakxO33mXGkR2WdcoLhGDp/hBSLytYj85GVH4xds4WCxFFFEpCVQTlU7ACVFpLXX6eHAnTiuaYa7oQ9y1ThSVa8E7sMxAixs+gD6AusKXtlZctH4AjBUVa9R1RH+TNcWDn5ERFqLyIuedSmCBRFpJiLfiUgm77hFGRG5TkSGiMh/3NaST/Lq+dUNstWoqtvNbjKOFbkbZKtPREqa87+4oMubnL7npsAzIvKziLTLdOV5YAsHHxCRGiKySkSSRCTMKzxjU+8WYBhwQESquyA1T/j6XKq6FvjOLZ15JQ/PNUtVXwGKqre6CM76YUrg3ELA+93OvJRhwRFB9ho9vIKzrosbRJC9vj7AZwUrJ0siyF5je5zPrzcwyp+J2sLBNw4DnYClngAfmqNFgWL/XCIyEPifGyL9QF49v7pBTho9n/9vqroId8hSn6lUXK+q013S5U1On+FmVd2oqvvx8/dsCwcfUNUkVT2SITirpt4UHKdpUar6ZwFKzBe+PpeIXAhcB/xNRMILUmN+yMNzPQpcAbQRyWKh8MLPEpxCEBzPr0u9zh0WkVoiUgN3vbxmq1FErsOp+b7sgi4P2emrCtQRkRnAPcArIlLJBX2Q8/e8WUSqi0hZ/Oxl2xYO+SeCDE09VV2mqi+qalH2qhlB5ufaqap3qeozmnklv6JCBJmf6z3zXKO1CBr8aN49vxY4uWj8D3AR8LOI/Lcw6VPVP1S1tap2welaGpJFhcNVjeb0C8CXwE/4uZANyHoOxYQcm8tFGPtcRQhVHZAhaIQJXwtcWfCKMpODxoYuyMlEdvq8zg8rODVZk8Nn+Bu+r52TJ2zLIf9kbOqdEZGdIjLPbBVd1OYTIjJIRC7PEJxTE9Zz3Tyv/bEiUjmf6XcXkTvyc20+yPW5LP5HRCp6vRMJ5v/HcnbN+PO5d2szZlFgiMgwEYnNIryKiLxRkFoCjS0cfEBESoizSFFzYKaItMmiqbcJ+FRVY82W4HV9ofucjaarcGY4pD8XEIfXc6nqslxuVVlV/8qnjKk4syz8ii/flw/PZfEDqprgeSeAdWb/PlX1x9TVx4BP/HCf80ZVDwBRIlIh18hFhEL3o1UYUdVkVe2sqpVUtZOq/mrCB6hqB1X9R8ZrRKSPiEwQkWlAMxEZampNP4mzTjYi8pE4K+J9ZmokdUXkM3MuVkSGmf2+ZgrmQjPrBhFZJyJfiMgaEWlhwh4RkaVmznND8z/UnJsoIlW9JDYHtqhqZ+BW4CTwLHC9OZ8GtBCROub6fubeb3o948XAFnGsNOeZ9N42524WkQUislhEupiwW7z0xahqGpCc35ZHduTn+7IUHCavhJk8/4l5B/4nIs+b/DHUxIsSke9Nfnkvwz0EqKmqh/Ob/0yr5gcTz3NdHxGZJCI/mk3M/X8Wkek4ExgQkfYi8qsJf8DIWoLTKg0KbOHgX+71NJvN8VFVvQnnh7amqT09BgwRkStwarCdgd+yu6GIRALdgKuB7pwdXKwC3A88CvxdRKoAtwNXqmpHYAswF+hoajPhZrqbh4uBHV7HJVW1m5m6N0RVY4AXgYfEmdb3AE5L4xuva67DmQF0OTDPpDvAtEoGAdfg9If+04Q9C3Q08Raae2wHCkXfs8UVVpt3oDqwXlXb4uR3gMHAKya/HJdzjbyiODtulN/81w+YoKpXA2VMyxlgj6reCPwBNMOxkv5AVW8APN1hNwBPm3t9ZMK2AUFjKGoHpP3Lp6r6HDg1EGClCW8ExMrZvvo/gXrAanO8EmcqrPeMGc/Uyno4tfyfM6T1u6omiYjHAvYiYJWnua6qaSLyBTAEqAlMzkX7Kq/9f4lIJxzjsI04yxHuVNUUEVnpFa898L7RHSMinwMzgJnApThTRsEpyKLMPRI9+nLRYykerDf/93rtnzAt3kuBkSKiQDkgu67ABeQj/4lIfeBHE2cF0CCDJs+7VQ/4wYR53pMxwHMi0hfHgC/ouilt4RBYPD+Am4FZnu4MESkBtAQ6mvOeQeEEoJrZv8z83w4sV9WeXtdC5oJkG3C5iISYjB+iqtvEmed+B3BXBm1bAG8DtzRz/8pArKp2EJFrgbtx1qm90Lywl5t4YUCIqp4RkVKe6bsiEgd8juOP5npVTTWaU3HmjZcyhVqIKSAuAuJ9+CwtwYlmsy84+eIzVV0J6XnOw0HOWgqH5if/AVuBVsAGIBr4AKcil1HHdpwK2m84+X8mcERVHzXv14c4LYl6OGOPQYHtVioAVDUO2OfpFwXuM/3g4SIyF7jExDuKM4d5DtDYhB0Eppl+0Z9xmtpZpXEQmAQsNvEuNqd+BM54D5Ab1njSzcARnJrbT8BN5t4pwMfAYqCHideGs7WlK8TxrPkrMMf86L8BzDVaRpuwV4D55t4dzAsafh4D2pbg5v9wauc/mXeilueEsUvZKyIXkM/8h9Pq7S3OJIXTqprdDLYPcLpXpwMeO5+HRGQBTotivAlrj9OVGxTYxX4KAeJMjYsNxHxqcayAD6rqN1mcGwTMVdXVma/M9b5tgD9Vddd5aOsOlFLVCfm9h6X4Io4LlCtVdXQh0FIFZ6zuCbe1+AtbOBQCAlU4mILhVuBGVU32570tFktwYwsHi8VisWTCjjlYLBaLJRO2cLBYLBZLJmzhYLFYLJZM2MLBYrFYLJmwhYPFYrFYMvH/cFw9WOkQ/j0AAAAASUVORK5CYII=\n",
      "text/plain": [
       "<Figure size 432x288 with 4 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "control.sisotool(Msys)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 85,
   "id": "890e1fea-8a21-4fd3-8e70-10b4d86b0921",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 4 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "control.sisotool(Gyr)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 86,
   "id": "1a38e540-db30-49f9-94ad-b8de79fc5163",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 4 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "control.sisotool(Gyr_d)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "df802828-e874-43c1-b812-811ef8ed53cf",
   "metadata": {},
   "source": [
    "### Sympy/contorl \n",
    "\n",
    "sympy.physics.controlにはLTIを取り扱うための関数がいくつか定義されています。\n",
    "状態空間表示を直接的にサポートはしていませんが、`TransferFunctionMatrix`を使って、MIMOシステムを解析することができます。`TransferFunctionMatrix`は $C\\left(s - A\\right)^{-1}B$ の行列表示ということですね。\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 87,
   "id": "41d14a90-55bb-4767-b21d-09946926f8ff",
   "metadata": {},
   "outputs": [],
   "source": [
    "import sympy, sympy.physics.control as symcontrol\n",
    "import sympy.physics.control.lti as lti\n",
    "from sympy import var\n",
    "sympy.init_printing(use_unicode=True,use_latex =True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 88,
   "id": "68cb0722-2721-4941-b40f-c612c7fe59a2",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAPUAAAAVCAYAAACe9ajnAAAACXBIWXMAAA7EAAAOxAGVKw4bAAAHQElEQVR4Ae2c7XHcNhCGKY0KUJIO5A5suQJLHdhKBbE7iEe/5L9OB7YrcJQOZFfgjw6iDqyoA+V9cFgEJMEjiOPHZe52BgQJLLAvFrsLgDypenh4qOJ0dXV1Ej/v7+v62etjr49tsoGUvx5WEb158+Z3PT6Oiva3ew3sNbDdGjjxfhtQHhB1IFU8V/ZU+WtXsOYinreqPlEiAJDfKn1X+QvlO0VeF+gOPTzR8/edUkDHYKWHl6rCHs48ywuV/dXB7opVz6KCbd0rfVV619dGPKPRkpglm3EX2ZHX263pyjm1Ho7V4WflT4ZoSPwAYSJ22pilBwwYAzwYor9d4JVOrjVOjPW17v/oGrPqWCAuPe+5nj918U5dvhRmyS22I7X9Jr08U35v22+c812BsojC9+po11cnguGu66BlPrILdi832IjSoxZDveDUHtVuSYdeEvMmdoT/4seVOfWFFPnelDogJ7ouNgEDcE7NSnD7OLWQ/2H/6AX74HgWnLY5DtkeK9SfSsbfZJnz2TAsgbnYjrz/4sfHh7rQEQMYRL4dbYjEO0vSA5GdtA9ubSvgWIZtcT5GRy3y+oPnZyWOgUvb0yKYR7Ij9HhxpAsvM0oM0l6KEWEXISmCs9q50t8eAC9izlResuvwXQzOCIqVZC6y/ZZcnOWb8p9i5HoG12PlnefYmH/ie+YHh03RczAqsVpDJba4ajnudVTMGl+frY5hR+ju/FAXtkXmFEPUAgjeuHFemp0kl/PDpfJXShguDs3LAgs2up2FCCpLGuIryb9LjBT99J1jE83GKdKcuGDje3M7QV8WBOgZQ7cAjB4rlS0SHL3sSTBrTDm2OoYd4ccnODURNGUUjDNJAkkbFLCIMUs+xsBb92dKjlSG4YBr7u0bwW1umW7M/oL82jz4+eF9x7bgck4tPGBy5DFWym1RaI3DeGfMYwyjYNb4cm11DDvCj49xas4ypthc/V14Rj5XLEEfJPRTZBAYhxkMK/Ys5GUSSGaTmRhYynkxEKjm7Kui2a52NmVubPVlITB6qXKnN+WULxGQDYvlU2DutVWNnzkcw44IRG6ltgENyW2rNLvRRApofoLDkPm8ZhF2yHhKeZeQGbBqrF3Oy/wsdjQKAOs3LBzuOCDcrF5xIOwaR72H+Z82wjzAVseyI7dAH0lPOAFRokUCRQTlnPpe9/EvzQBh0TfVjjPEDyWUcqe28QS2+AcWnHr+pvzkmUSyp8QSZErOsRLjDTSxbOR0OS/zY6vg7Lg0blYe7CYmt4qgJwqVx8GXcXT+3kG8U86hwygZo2J2nf73Ga/PVseyI3R7x/b7TineFnk8LiOiwoiDOtLgrSx2cquuVM8KeqOcl1dflX4NlbpRuZvUuKzkXv0Eo/B9Ysi1M6TKp8YSy7S3t244fbJh8rgdf+GlFVzVJ3NJ+uL7vIz77sM1AibEgau5i2O+CMhh2617oxS/q+vDC9O2YbZBWS58fba6kR2ZHOWs1Lc4NVHkqVKKqAs/7/PK44zAJ4jmpFl7DOqt6jFytoDhbbRv/4/yZhS3tjm5+4SmPpBjBCbI1a1u3XVqLAhhjKlA1SmbRr5NsS58e1YXUkwWbPktPhjMuY2nE9emmEyAcr5IBEP25eBAT7Vdm/jAT3kTp4ocdeKldksxr5B7exRGxmDUZatFdmSd+pxfpN0c6E+3iBL8bjn5+UPlOKcZLc4Pb5dDV6pjkj77NvfKw8sH3VNvn88op34wqR2Y+ZSDIfyiBL4zldfGoOdJsah/dIMi2TqaM+nRjXOtbM9TrAvJs+jOJyH06HZTKifg8mUAvfzgWXkgPa/FpfpNMF1LEP1jxDg1wd19slLODo+/KHJ4/DO7uJifReQ31QW70P1avOKvxLNVmMFkJGy9tiqejewokoUezu0POnjgr2hQajGpPZPJGRoj555J/qj7pmExwbW313ouJvUPfvrD0R15+bNjQXiubM9bpAvJ4GhxqpygkkW5uMRXhCkLxACmXLx0uS2Y+4YnnC1b7WozcPz4G8feR4e+Q15EBIfoEpJRzpn2FD51TqRmRU+t6vyJZ4jG8OeQ2vALqWslVmZHlOmGAWHkMU2KJRaUuM+VTdMiXagdK0BKt/TZRbm4SjF1yS0tz8VL/9uC2Y11oK126WfI+Nkp4sfVERcB4O02Xs72qHkWgiWX6JS3rWwnoC+6r63+esYhw4s3x5V/4aUPxuzI9/VBD5z7a3JUNjWWFYj0tVc2zUp14du5yJwW31nai6sUU6fEzSp68dL9lmG2EQ+xVWvTzHPHjy3gu25hdk7te+KFFttlXq8XkTq1n/yta89fktS24+uYG3WsxndK9MH5mQCBQ7dWrBmwSHSaMmXTuFQXthtqjTuNaFWaiasU0zrRRXWZeOl7azBHA8221ahN7XbA+JEVXkiH/3xCb+oEjz8b0BnN9jSzBjQ/BDPO04OcemaYe3EzaEA2wK6Y90lhh/0vdlsOKXqbEMAAAAAASUVORK5CYII=\n",
      "text/latex": [
       "$\\displaystyle \\left( J_{s}, \\  g_{s}, \\  l_{s}, \\  \\mu_{s}, \\  M_{s}, \\  Mgl_{s}\\right)$"
      ],
      "text/plain": [
       "(Jₛ, gₛ, lₛ, μₛ, Mₛ, Mglₛ)"
      ]
     },
     "execution_count": 88,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "#　代数計算をおこなうシンボルを定義します。\n",
    "var('s omega_s zeta_s kp_s ki_s kd_s')\n",
    "var(\"J_s g_s l_s  mu_s M_s Mgl_s\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 89,
   "id": "e4aff7d4-7f92-4135-bcd1-eb6e5e6ff7bc",
   "metadata": {},
   "outputs": [],
   "source": [
    "Msys_s=lti.TransferFunction(omega_s**2, s**2 + 2*zeta_s*omega_s*s + omega_s**2,s) #規範モデル\n",
    "Plant_s=lti.TransferFunction(1, J_s*s**2 + mu_s*s + Mgl_s, s) # 物理モデル\n",
    "Plantd_s=(lti.TransferFunction(1-s/400, 1+s/400,s)*Plant_s).doit() # 無駄時間を考慮したモデル。\n",
    "# lti.TransferFunctionの積のオブジェクト型は、lti.TransferFunction　になりません。\n",
    "# 積を.doit() あるいは .simplify()することで、結果のオブジェクト型がlti.TransferFunctionになります。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 90,
   "id": "8b75c5af-3588-41ad-94e1-4eb162be1982",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/latex": [
       "$\\displaystyle 1 + \\frac{2 s \\zeta_{s}}{\\omega_{s}} + \\frac{s^{2}}{\\omega_{s}^{2}}$"
      ],
      "text/plain": [
       "               2\n",
       "    2⋅s⋅ζₛ    s \n",
       "1 + ────── + ───\n",
       "      ωₛ       2\n",
       "             ωₛ "
      ]
     },
     "execution_count": 90,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "(1/Msys_s.to_expr()).simplify()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 91,
   "id": "7456e591-a334-48ab-bc7a-1c094018f092",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/latex": [
       "$\\displaystyle J_{s} s^{2} + Mgl_{s} + \\mu_{s} s$"
      ],
      "text/plain": [
       "    2              \n",
       "Jₛ⋅s  + Mglₛ + μₛ⋅s"
      ]
     },
     "execution_count": 91,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "(1/Plant_s.to_expr())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 92,
   "id": "b35f37aa-6812-4257-a80a-815453afe69e",
   "metadata": {},
   "outputs": [],
   "source": [
    "Kpi_s=lti.TransferFunction(kp_s*s+ki_s, s, s ) #　　D制御\n",
    "Kd_s=lti.TransferFunction(kd_s*s, 1, s) # PI制御\n",
    "# PI-D制御\n",
    "Gyr_s=lti.Feedback((lti.Feedback(Plant_s,Kd_s).doit()*Kpi_s).simplify(),\n",
    "                 lti.TransferFunction(1,1,s)\n",
    "                ).doit().simplify()\n",
    "Gyr_ds=lti.Feedback((lti.Feedback(Plantd_s,Kd_s).doit()*Kpi_s).simplify(),\n",
    "                 lti.TransferFunction(1,1,s)\n",
    "                ).doit().simplify()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 93,
   "id": "27bc97dd-536f-4b88-b15d-3f0ff2c29f8d",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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cmswVqVUWOknqE7l80oNrzzGQ4cREwTtthow/1a8TZrm6vWHp+lYZDGZwYIzQb2wcYKSYIIOxks/k/5WcDX7GFZj1/rdEefQVDCc8MQgswD7Idc+J6U8sruwRZgUTlfBOBVcOTBmHPPH0SjrTr9CZEwbDgbRw4iDfqKRja983/kv6YdEshowdTkzC7llhs7Fcy/eKh0VV1vCYji36YefSiU16G2jW4KygFGDG4kkhOjFhBsrrHsWq2lE9Bk/rTeCqNiikdjB2GO1w826oovIX1W+onTxdbR4Fg7xNwmoXw4ZhZ2XWTKp/dMxqhZVsJ8G2Vj4rF68FxqO4iFga7y1itLSOhvOYPwcH1cW+3JfPCryKltYx8uNoPtm4iypJphVi5RhmOzXECohV4djKsMSdrSFubWJmrJFzaf1q9DoWBl1ZWCkUDU63Uk/8FJj1iNGbdCpse4XRmOHPbW/lblsB0hRmEu3dkVm5zF8a701hFPVcWscMvsHgHBxq7Uve+NI6sptIq38aWmMHwLkd29U7NCBiN7B3FnqVvJ3fONj+kUSsdkdlVf61028O0tKXTth3zl3N9qZhVg1MT0FhxY4ZY/E/hdlFMxFwnFq9i74JeF8nHeM1xL5wVFezyFTRsANfzNao3bCAkM+RWqLFJ4DE+ZoEBAhHAM/kWGVx1PFSaXaWq+jNJmGBAWJFutdxbjYq62kvnDH+nOvzaClbdcO/2nCojtOGEIjXlKMXHgk/CaltFnIscNnFJLrxE0BCwgODCKjTsHrg/ohPjIMoeYYj0I+Axg2TOOf/J5nE1S47Ce4f5U9QBWH/D3EtPQVgnyqUAAAAAElFTkSuQmCC\n",
      "text/latex": [
       "$\\displaystyle \\frac{ki_{s} + kp_{s} s}{ki_{s} + kp_{s} s + s \\left(J_{s} s^{2} + Mgl_{s} + kd_{s} s + \\mu_{s} s\\right)}$"
      ],
      "text/plain": [
       "                 kiₛ + kpₛ⋅s                 \n",
       "─────────────────────────────────────────────\n",
       "                ⎛    2                      ⎞\n",
       "kiₛ + kpₛ⋅s + s⋅⎝Jₛ⋅s  + Mglₛ + kdₛ⋅s + μₛ⋅s⎠"
      ]
     },
     "execution_count": 93,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Gyr_s"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 94,
   "id": "cbe5aeef-0310-4bce-9f35-caa55cd6837b",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/latex": [
       "$\\displaystyle \\frac{\\left(400 - s\\right) \\left(ki_{s} + kp_{s} s\\right)}{s \\left(kd_{s} s \\left(400 - s\\right) + \\left(s + 400\\right) \\left(J_{s} s^{2} + Mgl_{s} + \\mu_{s} s\\right)\\right) + \\left(400 - s\\right) \\left(ki_{s} + kp_{s} s\\right)}$"
      ],
      "text/plain": [
       "                            (400 - s)⋅(kiₛ + kpₛ⋅s)                           \n",
       "──────────────────────────────────────────────────────────────────────────────\n",
       "  ⎛                            ⎛    2              ⎞⎞                         \n",
       "s⋅⎝kdₛ⋅s⋅(400 - s) + (s + 400)⋅⎝Jₛ⋅s  + Mglₛ + μₛ⋅s⎠⎠ + (400 - s)⋅(kiₛ + kpₛ⋅s\n",
       "\n",
       " \n",
       "─\n",
       " \n",
       ")"
      ]
     },
     "execution_count": 94,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Gyr_ds"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 95,
   "id": "fa4b6fc6-0854-4831-9591-69f4678dc808",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/latex": [
       "$\\displaystyle 1 + s^{2} \\left(- \\frac{Mgl_{s} kp_{s}}{ki_{s}^{2}} + \\frac{kd_{s}}{ki_{s}} + \\frac{\\mu_{s}}{ki_{s}}\\right) + s^{3} \\left(\\frac{J_{s}}{ki_{s}} + \\frac{Mgl_{s} kp_{s}^{2}}{ki_{s}^{3}} - \\frac{kd_{s} kp_{s}}{ki_{s}^{2}} - \\frac{kp_{s} \\mu_{s}}{ki_{s}^{2}}\\right) + \\frac{Mgl_{s} s}{ki_{s}} + O\\left(s^{4}\\right)$"
      ],
      "text/plain": [
       "                                     ⎛              2                   ⎞     \n",
       "     2 ⎛  Mglₛ⋅kpₛ   kdₛ    μₛ⎞    3 ⎜ Jₛ   Mglₛ⋅kpₛ    kdₛ⋅kpₛ   kpₛ⋅μₛ⎟   Mg\n",
       "1 + s ⋅⎜- ──────── + ─── + ───⎟ + s ⋅⎜─── + ───────── - ─────── - ──────⎟ + ──\n",
       "       ⎜       2     kiₛ   kiₛ⎟      ⎜kiₛ         3          2        2 ⎟    k\n",
       "       ⎝    kiₛ               ⎠      ⎝         kiₛ        kiₛ      kiₛ  ⎠     \n",
       "\n",
       "            \n",
       "lₛ⋅s    ⎛ 4⎞\n",
       "──── + O⎝s ⎠\n",
       "iₛ          \n",
       "            "
      ]
     },
     "execution_count": 95,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "(1/Gyr_s.to_expr()).series(s,0,4)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 96,
   "id": "2ff31f30-85df-4f89-9b58-1a6d073e6852",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/latex": [
       "$\\displaystyle 1 + s^{2} \\left(\\frac{Mgl_{s}}{200 ki_{s}} - \\frac{Mgl_{s} kp_{s}}{ki_{s}^{2}} + \\frac{kd_{s}}{ki_{s}} + \\frac{\\mu_{s}}{ki_{s}}\\right) + s^{3} \\left(\\frac{J_{s}}{ki_{s}} + \\frac{Mgl_{s}}{80000 ki_{s}} - \\frac{Mgl_{s} kp_{s}}{200 ki_{s}^{2}} + \\frac{Mgl_{s} kp_{s}^{2}}{ki_{s}^{3}} - \\frac{kd_{s} kp_{s}}{ki_{s}^{2}} + \\frac{\\mu_{s}}{200 ki_{s}} - \\frac{kp_{s} \\mu_{s}}{ki_{s}^{2}}\\right) + \\frac{Mgl_{s} s}{ki_{s}} + O\\left(s^{4}\\right)$"
      ],
      "text/plain": [
       "                                             ⎛                                \n",
       "     2 ⎛  Mglₛ    Mglₛ⋅kpₛ   kdₛ    μₛ⎞    3 ⎜ Jₛ      Mglₛ     Mglₛ⋅kpₛ   Mgl\n",
       "1 + s ⋅⎜─────── - ──────── + ─── + ───⎟ + s ⋅⎜─── + ───────── - ──────── + ───\n",
       "       ⎜200⋅kiₛ        2     kiₛ   kiₛ⎟      ⎜kiₛ   80000⋅kiₛ          2      \n",
       "       ⎝            kiₛ               ⎠      ⎝                  200⋅kiₛ       \n",
       "\n",
       "     2                             ⎞                 \n",
       "ₛ⋅kpₛ    kdₛ⋅kpₛ      μₛ     kpₛ⋅μₛ⎟   Mglₛ⋅s    ⎛ 4⎞\n",
       "────── - ─────── + ─────── - ──────⎟ + ────── + O⎝s ⎠\n",
       "   3          2    200⋅kiₛ       2 ⎟    kiₛ          \n",
       "kiₛ        kiₛ                kiₛ  ⎠                 "
      ]
     },
     "execution_count": 96,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "(1/Gyr_ds.to_expr()).series(s,0,4)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 97,
   "id": "a9675eb2-1dbb-4575-8cc1-2fe0268ef756",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/latex": [
       "$\\displaystyle \\left[ 1, \\  \\frac{2 s \\zeta_{s}}{\\omega_{s}}, \\  \\frac{s^{2}}{\\omega_{s}^{2}}\\right]$"
      ],
      "text/plain": [
       "⎡             2⎤\n",
       "⎢   2⋅s⋅ζₛ   s ⎥\n",
       "⎢1, ──────, ───⎥\n",
       "⎢     ωₛ      2⎥\n",
       "⎣           ωₛ ⎦"
      ]
     },
     "execution_count": 97,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Msys_terms=[t for t in (1/Msys_s.to_expr()).series(s,0,None)]\n",
    "Msys_terms"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 98,
   "id": "4e3ab601-1fbd-484c-8518-3a1f081a1d56",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/latex": [
       "$\\displaystyle \\left[ 1, \\  \\frac{Mgl_{s} s}{ki_{s}}, \\  - \\frac{Mgl_{s} kp_{s} s^{2}}{ki_{s}^{2}} + \\frac{kd_{s} s^{2}}{ki_{s}} + \\frac{\\mu_{s} s^{2}}{ki_{s}}, \\  \\frac{J_{s} s^{3}}{ki_{s}} + \\frac{Mgl_{s} kp_{s}^{2} s^{3}}{ki_{s}^{3}} - \\frac{kd_{s} kp_{s} s^{3}}{ki_{s}^{2}} - \\frac{kp_{s} \\mu_{s} s^{3}}{ki_{s}^{2}}, \\  - \\frac{J_{s} kp_{s} s^{4}}{ki_{s}^{2}} - \\frac{Mgl_{s} kp_{s}^{3} s^{4}}{ki_{s}^{4}} + \\frac{kd_{s} kp_{s}^{2} s^{4}}{ki_{s}^{3}} + \\frac{kp_{s}^{2} \\mu_{s} s^{4}}{ki_{s}^{3}}\\right]$"
      ],
      "text/plain": [
       "⎡                       2        2       2      3           2  3            3 \n",
       "⎢   Mglₛ⋅s    Mglₛ⋅kpₛ⋅s    kdₛ⋅s    μₛ⋅s   Jₛ⋅s    Mglₛ⋅kpₛ ⋅s    kdₛ⋅kpₛ⋅s  \n",
       "⎢1, ──────, - ─────────── + ────── + ─────, ───── + ──────────── - ────────── \n",
       "⎢    kiₛ             2       kiₛ      kiₛ    kiₛ           3             2    \n",
       "⎣                 kiₛ                                   kiₛ           kiₛ     \n",
       "\n",
       "          3            4           3  4          2  4      2     4⎤\n",
       "  kpₛ⋅μₛ⋅s     Jₛ⋅kpₛ⋅s    Mglₛ⋅kpₛ ⋅s    kdₛ⋅kpₛ ⋅s    kpₛ ⋅μₛ⋅s ⎥\n",
       "- ─────────, - ───────── - ──────────── + ─────────── + ──────────⎥\n",
       "        2            2            4              3            3   ⎥\n",
       "     kiₛ          kiₛ          kiₛ            kiₛ          kiₛ    ⎦"
      ]
     },
     "execution_count": 98,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "terms=(1/Gyr_s.to_expr()).series(s,0,None)\n",
    "Gyr_terms=[next(terms) for i in range(5)]\n",
    "Gyr_terms"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 99,
   "id": "57bb4d41-dd96-4159-963f-93870ccd2ead",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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amYTLHicnY82rkssxJkvDL0HekzZy8KC3d5rEb/H4EUyF06YrB2bh+K9x/yzyV26BwBBP1XOT2eBQWVuFqQ3pkd60mOB2UHwzI9AzswT/umeKkj9vgkClXNZ+TXlSnS9N3lVf9GbVqmESEPlETOiry7zO8+zFYvWgS1s9nGp9oL8SMgwDhqC7OuDYbjfsQC33puwZgSG5VBgr2dsJ9Uaea3WLy3sGWGEPpuyl1u5xXFUZBxXEDBXL94Uup7tFgI3o1ldI1T9hYMV+utvaeen3FYGeXAqITb6m7PI+ScTM2HZ/M1HMXGUcIrdXuluBxQI8wfoIaFAwWxr6CikbmAxOJ0fg7AgMyWVU4D2ZVPjQTLb2a8ou7+VeZn+DgzhV+w2wnWMc6Gj2HNxAgOCZSbiHo766NydZkirQJ+b6S4L90RHYFoGMXHKQouXv1jsu0SFlxQ8jh8LHKu/yPobMv+G49JhMVtNNbQ46OnYgm6StTq/l5enrEBDudPToV0gVh28Rt1+RxItTXPymg/Rv9F697CwW4gnuBQI5uRQAi76mXJBTl/eMhAk7+83YrEM5c1YOVAfF8lSF0zlOZ0BAWDPbKn2FFEUfTjDlqiRezCSy35rK5fc4R8AQmCCX/M+IRibjM/qjOc6pMPQIHokXxpe7wkty6vKeAtZ/5mDKT8IRnKrpwfPnz/HzcfSxahWg9P8oX/d/NVRXwDOUERDW7ykVPtpuHz1SGMv2MDvTncHEBwj5wGE3rYJPpDh4kZf0fP12lvCcuPnf+4qA5KYol0oTJpLCiNkr6XEF8atqjAGr1Te6kFl+8d+a4eo9K6eKd3kXcEMkbMAZ/GpddVfKy4rjydyVA/XBKvGRK6y+07YIMJAYWHRaeuFmahS7+oJ9CPYc/OueAsFpcwSmyCWrAWSSX+wjwx9KTjEK6A8UGIZh8GvKMQ15MALdrzRfubwLlXGyVUPNHk6L2+yVA1zUOb/rxh4EFXHaCQLqD5bxGAoGHsab/6ER+kh3Bht7DG/jMwP8Vs+X9MtcVdnpyAjUyKnSurwnwiA8bNXAF66byWOSJPuoPItXDhTA8vCpmKFwnHaCgPrjnF/33EmrvRoHQwCXyGPaJHlm9oubdNBV6vIOSi1iwodrudowpFxu0pfa59gpLBupzF4/8FbbrKOlv1WDmFkZ4QNe/eu3xtzvjsBKCMyV03st79LJ6GK8ObjuFtEi40DJqgQuC07R8F13dy8t6o71Mqsv8PEyc7iEr3uu13DndAgEJL+tzelSo1zegy5mD5LTYatM1G3PASvNL58bUgFVSxKlZxnIx7WqOrUp0B8cAUfAEXAEZiEgvYt34KWuj2fo7oedQtlz+PQ6BnIagKOpdmEsqkgV4twyfi42Q5wcAUfAEXAEzoCAdC7KfZZhiNXDFWW6n3vQ//8Hmeg0g5ci5y8AAAAASUVORK5CYII=\n",
      "text/latex": [
       "$\\displaystyle \\left[ \\left( J_{s} \\omega_{s}^{2}, \\  \\frac{Mgl_{s} \\omega_{s}}{2 \\zeta_{s}}, \\  2 J_{s} \\omega_{s} \\zeta_{s} + \\frac{Mgl_{s}}{2 \\omega_{s} \\zeta_{s}} - \\mu_{s}\\right)\\right]$"
      ],
      "text/plain": [
       "⎡⎛     2  Mglₛ⋅ωₛ                 Mglₛ      ⎞⎤\n",
       "⎢⎜Jₛ⋅ωₛ , ───────, 2⋅Jₛ⋅ωₛ⋅ζₛ + ─────── - μₛ⎟⎥\n",
       "⎣⎝          2⋅ζₛ                2⋅ωₛ⋅ζₛ     ⎠⎦"
      ]
     },
     "execution_count": 99,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# s^0 の項はどちらも1なので、省略\n",
    "sols=sympy.solve(\n",
    "   [\n",
    "     Msys_terms[1] - Gyr_terms[1],\n",
    "     Msys_terms[2] - Gyr_terms[2],\n",
    "     Gyr_terms[3]\n",
    "   ], (kp_s,ki_s,kd_s))\n",
    "sols"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "d4c91188-69b8-4493-9d62-24719599c6db",
   "metadata": {},
   "source": [
    "値を代入して、比べてみましょう。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 100,
   "id": "9a6095de-3a9d-4262-b2bb-1d5fbcaafab0",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/latex": [
       "$\\displaystyle \\left[ \\left[ 2.25, \\  10.4066478076379, \\  0.243351768033946\\right]\\right]$"
      ],
      "text/plain": [
       "[[2.25, 10.4066478076379, 0.243351768033946]]"
      ]
     },
     "execution_count": 100,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "[[ e.subs({omega_s:omega_n, zeta_s:zeta,J_s:J,mu_s:mu,Mgl_s:Mgl}).simplify() for e in sol] \n",
    "for sol in sols]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 101,
   "id": "635512c1-d88b-4bf7-a5bc-62d94f5715fc",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/latex": [
       "$\\displaystyle \\left( 2.25, \\  10.4066478076379, \\  0.243351768033946\\right)$"
      ],
      "text/plain": [
       "(2.25, 10.406647807637908, 0.2433517680339462)"
      ]
     },
     "execution_count": 101,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "kp,ki,kd"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "246e3732-5534-40f0-89ab-b0268ee3dea8",
   "metadata": {},
   "source": [
    "無駄時間を考慮した場合は、次のようになります。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 102,
   "id": "1e8f338d-3f21-4580-858b-202a229ddece",
   "metadata": {},
   "outputs": [],
   "source": [
    "terms=(1/Gyr_ds.to_expr()).series(s,0,None)\n",
    "Gyrd_terms=[next(terms) for i in range(5)]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 103,
   "id": "6d978275-5ae2-4640-97cd-7c76bcede688",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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MhBehr/X8nWKDdTucTblz+rTkv1TJKvVjQSfTca+5vhXCEXbPqnLZPkSL43Eud4tHrjlV8nJ3HMticrv/hGVr4FD80p2HDP4+fY88//YU5rOjmxuQ/ITr7CzfewE49l9GchFFl1weZZ3z3KWkHeSwLVxEwDqT3uqSVNF4YWE3jsuWudYcsO1BGzayX9or/YSB7TVkdoscsOfiOf82sHs49z5CP3qGrZ/4F2s3KMNyZ5/rF5g6Rvk9fWeqWSn5QfycMP6qi7Fm+Cp54u6xdUXTdg1gOGZTxIUpedHN6bbTZ2XYfOPazr5kUapM3yU6WsfaYJxlI4ErbbT2scISvFPuseaGdQf5MeAmNoa/Q10+Vo/FrCP3g95OrG0gyD8r3sIGUEe2cZDToeaxUKwPUVXrsVBs3fJfor8ujcW91WM1+FbNth+D6N42moU3Kt4gd6vH4Y3iEmPnLLMGv739pEV7juUtplyt47tOtwZjVQxnsWWsuWW9wfE7OFk7t1bMiGV4vpz4Bz6wx+Tn2IQV97UwhrW2gaD/O+wUAwjEvik2jlrP36l1sG7nl1mev7EBjfgvVbFKWeaMwvmCnqDdu9K5nl2J4ws6zidBXjLHoyp5uXOGr44DLlbwX9rwFxG+c2HrZx9qgnw/YOn+Coo3uMT73uO6/xUOs8fyXPHwzsniAijKYX1/IY+d8J5J2O2J/qnuxRzwdthQrA2vsl8HE2XQJ7io6FtXt7t02iGP+rBdLMs0XPzB9tK3unJdicAHyrLO0nwn0OrRy0H83F18+Dpc/HgPeVw4yQlqcmoBwxmbYke/6C/ECGSl2FBntn3oX8yeTZXqO6tT5MXFsRaYxcZZNmVVrD0oP4u5IeAJ/KzixnE72we69nT9G9qlfpCAxKXFNpDAP1uS3QbQHnP+2XDIbWEsRPyDPkR9kazHQlF15+CvEe5OrAQ+oetU3Fs8VjsQfnvaqDlvNJWGuVs8Dm8cl0CEOF9eg9+eftJCP3wmYaODKsZ3DceqnDQv5paNAuax82v6/PDZfIpeihkpaMWXFf8RWDUeWxbbQIL/E2XFgAhby1wkKo6iDdbzd6oVrBv2RFu8wZ5lmYbPyZO/h6IQyNO4j0D00gzGmuv3cDI4DNo96wAf5rYvjmfZC/KSgxPH9VR8K973il1oBLLYOQz/aoyBn/8Nfc8Bz3OfCDYnJf2/K/PXuP/cnQyv875hx3TO83W5e7sd8n7E9hjb99i44OkqIZ9/hfQBLnhZLN+1+6qwcQbqEXbGmKaKy8ABmxBrw97mbsZsDnmz9uvu4UIX2jD/E5ILXt7gmHY1lljfxeIPJ4OB8eJNPcifrZvCUWY332H9a5PTPYifK8eYMIxJ3S8/cX0Yl7qmIb95DKHolU05XmhT3QJTh5/LPu1qxgZtZ9/2X+pwodRpsjW0kXORkM64XrU/nRWdOIB+6u8msNk7OwM3VCl7P4h2My4HY/gA36uY5eQcsh/02GSwgVj+2YTFY6EFNhDNv8cmtEcbqo3dKfi5smZjoZS6exxE8wf5RxiD9aCZPbzCzZVeNVYDxtXa/ixa7mIBNpqFN6pXM3doe5ZxeO24OLMN7qzxgzyNxYKo71cA/Gj+tR/8WWvOwC3bGzt+Z//UPQNzMeBCV+RNjsFcec3fLhBLPxH/Xd9zNX+PRRL4VT+GzWADsf5PmIuNATE2UDv/aH/U2MuVM5u/E9vYuns8XM1nnIxD+28PH4vDK4ydUM31LdCFjAV2z5qveJmyfeRPjpucCleyXP6hOV7AyxWOU5w4fEO7K3m18HInpNmO12nUwy/aubCIgxQu8Om/zYjNHCvP/IuE+86Lk3qkD98cQlk+7/u+ANzDNxT9hj3fuvIa27eD63Tiv3wejvf427QxLISdJ2WbfRYO2HTYVMiGF9uvg2a40IV2zsSJO+t/zH0vjelKv3mP7QdfDvfV4Du+uWv2qfj5/xf2dT7EQbewBJh9ja3DnRcPhCFt6mJxjcOBWHi8nhATnxrA5mvowsnavz2dfN7Zj/w17ud0xrUS+qJ+c3Mdj8Uf9Xe50E6Tm4UbNgH2nbMfTI3hbNKYrkfuB4kJ0xguxfsn2p1qA2N6XvHfIRL4aCR2p+JHVHzf7hFaOhZaUncUf+DmKONYz0FoT9zMxmqN2H4IM17fzUZd40x5o8xGuPNjbpNxeEO4OLMJ7qzx281PGrHnIGErC4z1m8WP78RtFOtZuGXNwF/ztygKdi0k/gfPsWPYaCy2ZLGBCP8n1Kx70XdxuC/buIENm0sN8Z+KodX8nfCm1j1mp0d+/jJnokuvEWPN9ZeiF3dfqt1TapTtIy7NPrtyzRPH4zyl8hLFyXhVo7nV8lLyQqNH/YGIg52dGL+IvVhkhHL8RQ3zh50css6pe7MKyp6/tMeVn9zVi7euuDy+oYUyh4n38wtcdmAswwfh/URjoDOfE8rwwctL7N+fM/MeCLu8+MZIt+aAdabY8FL7ZT1cOTlc5Md8/2DgY54wwabpI/S/s18hj+dcBPLlwOZr8B00e3WKws9hw0FbHzvGFZ77xV1foJzHnQ1rHkPo622KdtRPfrHNW5QhDsN4Xzs2tAX+AoqLWG8cDuyjnuN4zB9ZbE7nEvoitjF3so61KXGWui2NtUfgx5ob4p3Cz1JuomI4G8PkfFX94AmO4ae1DaTwz7Zkt4FE/mkvoV8VtRAbon0IeHBuZDkWiq6bBoL6/ZiD/WmXkHf0cayHYnLfw81yrNaC7U9i1ruwm41m4o2qtcCd9Ti8FVx6pjt7aI3fbn7SiD3PkmVwsdbxXQuxyoC+WRHW3LKylPF79rE7G9TrDzX+IyC3SfxfP8emvRxh/uatwNoGUvyfbSgxBoRsoJW+JWrsBX+wnr+T96i6WRD1p8zfQ9xRZCv8UReT1MNYc30TRCeFRNs9JfR4WT126ckSx9f0RPPSwzGGE3I4O57oyauSlw+ePn3Kt+9wIDH1ReY13Blz0I5XEE8wSRC/YCcBL7G/wZ4Ldvha6+e9c75RqF+eDzm+Qxl2fBcJeew8+FdQ/IKaiyXYOT1A/qfYnxPO+WX/fWz8Kzb/5XZ3Hees6w9svJd13EfeeSGAu856+olyOh36mdbHqEPYWYOaKC8nB2wK5AdtGGUW26+rg78geAE55wV9OH6MPPoJ48V50Rzy6ZO0OwZhHwRZjn579guc3+C8WN9h+6wS9EzBj3GEi0l8TPoZx4wr/Pss5vGNaIxpXToChtCRNk4MGTOJRffLYuRzwQ3tkLH7X55jf044r96+oAN9lzbB9AU2+uFk3zyns7u2S1/UtT7zB/RTf5cZ46Xic3LDNkF+1n4Q8qNjuGuP+sGBseS0gRj+HS+Lx0IpNoCyKfzzhwivcA/7dvZZT7C/+MGCy686dkOHVB8yGwstqDuFv+rHGQNXXXwKnM3Hai3YfgygO9uoOW/UuRXuoIfZOLwlXGLs2ulrht/OfsJYX3U/HMtZajnwovlXKmiVlM/JLSGAfPrU7LN4lNlk7O7ao/EfgXBJ/HdATD3HPsr8rfb4njr/TIkBszYA/2li3AA9ojFEWbP5O70vsW4z7lzdTfDXRTGjD/BhPmeETOE84CfF7p2tptg+8Z5bvyCOB3z40xReUDaFk9m+xHFcJS/AgWP4h9ELjXADDZQDDy6s4Ze/1SfowUUTfNjPCU8woRwXP72j/u6YePyM44svvIOCGigAnYVdATym8OBs1tR+IZNB8gH2F4v1htDkqHtYR+vnR8HQ2dTn2HOxZ1Q6CjZ9MI6oc1//LY+Btfq7LQFPrCuFnxx+A5nqBxM5syyewj/rtbaBWP5d3Xx49xE22swvuLeJ+RR12yrtxZ91vVvhlaseZ/caq+UCuCfXYW0y1xJvPWBXHiomrAPQGj9LP1mnme62QgCcav5lBWaBclL4tY4XhAMyNX/b0S5q4d/ZiuZvxraSwr/jwPy7uNgYIBtYTz6wNuVP3K3nJCTBYay5fgioja/H2n6Mz4ljG/JiOWFtKBscT9TKC9rdLTS6MwcrCt3Dxl/echD+EzZ2DtUltP8zpwdX3HaJeTigPtQtNtEgPmdh3M+3tfBNE5Nvm2C52hNxwkYbEHY7kmnEQw775UrLGB/IUfeOjOxS9VEwjLWpPglHweboOvf1Nz82irNs1xHt0ZyPoUAjfnJwExuzctQ9hKnZcyP+iY81D7H8s26+JdXPPf6BTlXOq6jIjmkv/qzr3RFCk6pT7N5XKAw9Emn7WKxj8I2V1W9hjNx++aMcC5d1TFvjF2vb1vWuQ0F33xQ8vhM7BggY8ZvDbxUzDPgNiWiAf6qo+VuI6InrRvxT+p4xgPXLBojC8mTNX2z8ZovF3TLeUjD2NVjz7OVqf4tALC8xXMTKuq09Tyzuy6/xOAXHmHiUIs/jFcO3L5t1f3dOOgYF/KVt90p/HPMva7g4p8b0BI0mUV2CLlw08xO2H3B8/lui09XZT/6dERdfcZUW05+J95/uqutT2JXBlwUPpvbr/IhfkjGghZJp3aHKllyHPowR/GvG7H9zuKR9uKd5DBNtqg9j8dj0G2t0XLTOFfjTGA0WcZZyi+ZmTPFK8iz4MeUmMWaZ1p2Ds8L91oJ/wmbGQwr/KMvx0t/Yf+iO+VZUvmb3cG9Fhc5r0i78ocFm9a5Rfu5e2NUm41jUw3l07Pi/3+TiMew3toTjRKxn8U2U1Vd/Vm6/4MGOhcs6ws3wS7Rts3rXqT99N/TZJJZPt2DzK8WN7zZHoO0KLfg19VvFjE0Nrmr+YSuav60zFwv+2YLdYkAtNlD42MGMv5T4Le6WOW8KxoMazHgeyNUpEEjkZZaLRFl9/Gfl9gvudQzdNptHpeCIssHxRIq8Ab7F8HJ30LBWT19AsXfYvgFp/IsnPiDlIqOYN7Gg6CmhfKkLEHwTc+yFXQ5U02Wu5sHSfiGLX45x0sD0BOcfzcmfu3YSUcQn4wK3ItNBMPRvjFNsDlhhBfZQtD9NwLs6zlJuBdxMqF989mp+LLmBLPWD25rMav7ZXCsbSOUfVXNRNv+qmX/ZzAVH7OeS+jqUP3zaiz+rejMTuFW/q7FaZiIpHjZn3ceIN0PeKokJhhrbirLCL4Of2Cq6TNpWsXxZ6+zvKmp8Z6/e4SWu5tcqXpAJxYzN7bFq/oGW5m/rTGY1/6x+zxhQkQ0UO3aw4i81fos7es+ipDnjItjy3ZRq+xE+1zLHm8TCVE5gHTHjiep5OcRCI5Cvh/kL452wWwic8W2l8YD2/AoVuSkJAUsEXkPYV5YCJUsIxCJQWpyNbfdRypXGj/rBbS2vAf6L+ZXJtsyVWZv8dxUvGqutgi/u5gw2Kt7ioFepihDI4CcVad9GU0sb37WBajlalMavYsa2ttEA/5q/rTCZ0vinKgtigGxghQ1Y3iruLNGclaU54yw8219cYPuhRorjEEKB6ws4ielLquflEAuNArahy0JACAgBIVAAAuio36MZesNDAVyoCUJACAgBIWCHAPq3I74V1Q5ASSoGAY3ViqEiqSHiLQkuFRYCQkAICAEhIAQOjoDmbwc3AKgvG6jXBsTdMu6Am76XWQZdNXeJ4+2piolHLfByZ3toVaMQEAJCQAgIASEgBISAEBACQkAICAEhIASEgBAQAkJACAgBISAEhIAQEAJCQAgIASEgBISAEBACtSGghUa1Mab2CgEhIASEgBAQAkJACAgBISAEhIAQEAJCQAgIASEgBISAEBACQkAICAEhIASEgBAQAkJACAiBHRD44OnTp3+h3kd4PdPs39Xg+mOU4//Jfehe5WTeXMj9n7nQAgVCzw+sm3UU7GJxm8MY1+5Bzh/YuI9ND3Hf27nC4mAOne2uzXHPVuD6C+wejLToI5f3buTaW9z3cCT/Igtlmolh0GUyTuXCsAb85nC5MIaEk9L1ntMZ1+RPCVxvWTTAm/rBLcnYuK457tkU+e3GhOxU3Zwd4JpiwE68hKqd44334rr63RCIEdfncMY1+UcEhtZF5jhZWhdkNjM3C1DSMFUAABlgSURBVGEwh18um2abjoRxiIPh9QAnWWK5+BiyUM/5nL1QC1xX31QPncktjeBfMSMZ1bpuiLABxYC6KE1ubYQNKA4ko7rdDXP84VoW7qgdZB9mvpODzQBvirs5QA/InOOEt+J6Fn+CXPnSDDdTvCD/e9z2sKiFRjN66JIQEAJCICsCCIpfo4JPsH+etaKGhQvDhslNVE22kAiYiguBAhCQ3xZAgpogBBYiIP9dCJxuEwJCQAgUhIBieUFkqClCoAIEFDMqIElNFAKZEVAcyAxwRvHiLiO4En04BORP+1AO3LuFRvrrtH3wV61CQAgIASEgBISAEBACQkAICAEhIASEgBAQAkJACAgBISAEhIAQEAJCQAgIASEgBISAEBACQqAqBMwWGmHlEl8lprQAAWG3ADTdIgSEgBAoAAHF7wJIUBOEgBAQAkJACAgBISAEmkJAY+ym6JQyQkAICAEhIASEgBAQAkJACAgBISAEhECDCNy10Mk9BPov9m+x3beQeRQZwu4oTNetp7PTJ06LT9z+O+S/r1sztV4ILEdA8Xs5drpTCBwJAfWh9bMNDjn24V+sctzDH1d8ge0Z8t9ir1Q5AvLRyglU800RKMEfXBv0fMmU2WMKK8Gej4m8tBYCx0FAcaZNrsGr5n+NUQtO32DT95aN8CofbYRIqdEkAvBPPjfVd8nG7JYc94ILjdD4V8CDhvG5w4WdMh+q/4n9c+Zh/x7b3zi8hz03PoRXikBA2EWApCIlIPAjbPWRbwiOX+D4DbZPfZ72QuBoCCh+H41x6SsEFiOgPnQxdMXc+CNa8jfivp/7PMb5H9g+LKaFasgaBOSja9DTva0hsLs/aIzdmkntqs/u9ryr9qpcCAiBLRBQnNkC5e3r0Pxve8yz1YixJefvn2WrQIL3QEA+ugfqqlMIxCGgsVEcTqmlio17MQuNHsZoiw77U2z8pe+uCW3goigujuLCqHdsV0yDUI4DDupwXkwRc59FGbYRWxbsIJcr8H9w7eww4Tnyr36BjTwaKtO/2IgbAwIXkF2kmHIos4gHVoR7d+PiQtEGTpbyMMLB98h7he13BwtthXmfYbuypQag20wF4JfsK7jnsD5SGl5oT7b47Y2wNJ19u7baO/25Cp5908fYOp9Bvo9H56Ygz6wfo1BLeZCV7OteMdx7WJ93PFQ1lhnhS32oN+Yd9kt8b4TDZ4OmMxZdjZEHZXS6AQJG/MpHe1wB09pjbk+b4xwu8QWig/uGY4wi/AHtMhtjQ5ZsukJXAG/JY+dS7Xlr+J3N+2ebxJE+wOd7F/MnV27z54UeD9RvOnejXEuZkJVsgz3dhrHVX6p27/Aoel5OcGNswJjbIvrNkgwL+FbV7zq7Gfqs5n87GdVS/8R9Qw47DZD/AAeau+/E51i1Szge4Vc+2gPXYVp0H402Bsd9S2zDwzBiI/5SVXvo0UIfqrHRwOqW2PaITRcb9+4M9F17+gWUf79WyJr7WT+2ryCDA4iLSXRALifhe7bdHDvg4B8mPMIxN74ekotC+FYqDrLOCed8Ow3fUsVFSPy1Nh82/IZjyjinhHJLeWBde3Nx1rf2A/C1lIchBzx/XTsegfbT/zePAQs5GvITUG2zy9kxLBQv8/jdZ6xQnftNHDu2tAU+FO/6Jren/bNPu1igi3Prfsxa3tJ4THxL9fkx7k3zwGuNY5khXzyvoQ+19FtTO1gjDDa0xPcuOIQM/j10f2E14w/f7qi0MwIW/EKFWnx0Dm0T/wWeLcTcOZyavbbQF4jHRbxz56X0WavH2LLpek1+oU2XbM8xZKyO5cDtHiri3MlvxIQ/xuTzvfP8Cce7xXsCgfpN51o5ZKKNS8aQbArT0BZPuXV/Fj0vJ7QJdmXJLbneq99cHTOsTRIc7BZbLH0WsjT/szaOSHkreLyKu5DFPpFvMkr5jjCypcUUKy4OhJBZyPEFv434qCV3RffR4Ct23GfZP4dMsbjrwKmJPhTA7jE2svQnc9toPe4F32gUiyiAYsf9b2z5DcpxEPEsth60P+rNR7HyUsplxI6rRL/rtwV18WHD98jjg4bu7x7c+T3sf/VlccygznN+icKFWzc4533BcizbS0k88D7UsxsXvXa3dpjEw5ADnL8cAMLOgn8h0v/SbVCkrlPosvekI5qjIT+lIL0xhkXgBZ237PuK0DnG3qxsAXLY73AyMkzs2/i3RV2/5coF+6e9yg0aH82jvw/tPnK/WN1YZsgXzqvoQ9HOvftBb/K59tG+N+TQNwj5/JXkt9hejPDqi2m/DwKL+R3hsrpxLnSw8t/qY+4+5ldUrdG+wFbDdi7GGKX4A9phNcaWTRdlnosaE23TpdpzrNZov0Us5/yJvyLmwiL/jO8X5PHZHn/p7vN28w20K+rZYmw56HQTWza2HGX2UrQN+ntQz0Vs9fm17h1uxc7Liete3KLe3eZ6qNsiZlib5W6xpaeImc8CY83/esBufJjEI7gai7vsD59j47iyyQTdSowDsVhHczzB7w3yq/VRK+4gR8/OYXHAYSwGxNpiKeWa6EPBxeZjI9RZSyxsMu7dMfSgb0Am34Sze0I7/Nt6ajGuXNgRh/8Cj+FgirjwC1mukGTi3+ONLRj5E/kPevfHlqPMG9xXGw9du1v7sOYB8hgM+Us4viFLyQABa44MmlS0iMLwyhW/LzgoTOeLtmU+4SQh5i9cY/unvcp1MB2YxzVm0tRYBjagPnSNNSy818r3IIdznS+xfYVjPtBSKgABK36pCmQd3UebirkFmOemTbD0hQL8wWqMLZve1AptK7O06QPFdz7be++2jhDozvNh2tM3rOdk1C2HzBtLGxwSUNl56fPyFBvooM/BLWQefRxJbPeMLeY+C041/+s8ZtsPC/+EDH534RfXbquAagsiYMExK4Ec+ejNTel9dOwYrbMbK9sIGmGZBZrqQwkx+NTYyNmalW1DTnFxz2yhEZQbrlLb01X5Bh6+kWdsMr1nu0brzogdFxTxrTNTONxzDWIAezfSOH8frzPFljuVPr0JqRoefKMb3Jv5A2yJi9O4svb+jF01CGF2lcw4yt7SMiooBq+M8XuIdDE6DxuW+fw3yH8AnPmLXN9nsUrGof7fFsX2T3uVY5uZjsrjSftln82MZWDD6kOX2YDFXWa+Bx45PuZfDPPV1JwwK+2PgAm/8tGOyGZi7v5muUsLTHyBLd/bH1C/1fMl2fQupmhWqYlN723PZmhECIKuv2P7kHtfHMf+L9P686c9fcN6TkZVc8ikXBMbpKDKU+nzcsIbawOeClNu4Wea652Q3TO2sAWmvFIguNX8j0Bsm1bx6PzxI+z/3rbZqi0BgVUc9+uRj96U3kfv2j/3baWC46b6UBeL9V3yreE1G/fu3urY1BGD13BSzQE/V3fyr8O6BTTY80tLvlqO+X/hnCvBmknQh6tFx1L3pQiu8/+GiUEocWAWVW4gKIoH3uPkN8vFAJetT6N4CHGA692kGXsGxBvsaUdcSKZB+3pGgxwB56bjVSKER8TriDozzvBBOX+BxIfjfEMfv9xnn33+KwDkRfVPe5VDW/spyKMv7Np7+H4ROFQxlgnxhevqQ71x77MP+t4Uhy7/HzT7Sxz7N4C+d2p8jr3P20cz1UoEFvPr4ZOPnpAADk3EXM/rAfdBXyAm4Hl2XtGSP8imq/eCoE0fyZ6XsAl8iCEf8D/C8XkB316+4fgKqZL0DDKHzF4Dgzboy7p2NDl/g27FzsuJf6wNeK7c3oxb1K+5ngMVWFQxlmRznd1c+azL1/zPcbrTLso/pzhEmznW/RTX2f8xdc8N3fmf2OtNRydc9vwMcjzFr8uXjzr2gEexfbTjKmRnHw0KBG3Dl5+yEX+9tj30qb4P9ZhDF42NPBi3+6BtT9m0yy827t251bGNIwc4F0BwJecNzv0vdziA+MZtvMT0BNe5uOgVj5nReoK+xIZOzi9rmXwg91+YnHJPn/4tRxyMxZbr7kQ9vCeWB95zOC46oDJ/JPIwyQHk0Gb467dntCFuOH6EzdsIDpWWIJDA0SQ/S+qt9Z4j4nVEnfv2Cf05yPYLgfmQYPjFfmz/tFe5Tp0EHr368nmPxGAPLNkHlTaWmeQL7VUfOuBwy9ME3xvlEPdzjMzxTn9hNSeHzP8Fm9KOCKzll02HDPnoDIfAp6qYO6NK05cSfIE4jMY7XjiCP8imyXT5KcGmD23PU0zSzrHxb1753IaLol9PlfX5G/mG9ZyMzc8h8wZ46LmmNw7sgUep8/IUG+g0suQWsjSO7NnJ2CEwKnEsyaaO9h9or+Z/Y0RulJfon1Mc8sf1fNlAt6HpfsERv9fQIqONuJyqJoHjKX7lowNwgWmpfXTsGK3TKME2PAKjNuIvtrAHJlX1ocQcbdbYaGB8CbY9atO4v+i4d2egbwunfPDPxJWc3TH2HEBwgsgvCLo3HSGPxv4nNiYG4v6XB11mox9cVPUS+vsvbWPU/DimEMr0y0XxQLkH5iIS1lXFoniI4OANWkFZ3Pvte9zHAKe0DoEgRxH8rGtBXXcfEa8j6ny2Sti/XzDMNxmxD+cAm28h9Licy84c9PunmWIX/Zh1Od/e2fEJK5XPz0HfXStqLBPBl/rQIKVZCwR9L4JDzhU42XvMDcd8u6P+RjYrbdHCLfiVj87DXVvMndem3atBX6DqEfHuCP4gm67DD4I2LXueJhLY8EvW59g4hvkZ2xsc+3nV1I1b+cZU/T7feu5GuUtkBm3QNxjYNv+MuWc/Nc7LhzZgye0R+k1v6kv3W8UWS141/1vK9vr7oniMjbsox7dW+b8O/akXy9a3VBKWIhDkOIJf+WgP/Z5d19hH98doQdvwakfYiC9a+77GPlRjo2urC9p2hE0XG/fuXutbfU73P3fQgsS9Bjl+YRF/wXO/p907XPMrmDng8G/46RVp6xD6clDFLzj5iyaf5t5I41ec/ovCseW83FgeWP5wXHiQNtjH8jDLAWzmww3aetQqghwB/3vYDhWvZozhiHgdUefOBGD37J/5Zb7vt77CMR+Qc5D9Csf/h31s/7RXOTSxS0EefUHsZ2Nyr9zhDsF5iWOZWb7QZvWh+1pq0PfA0Ww/i+tvoQI3pfIQsOBXPjrBa40xd0KVI2QHfcGBcOg+SzZdlSsEbTqi/1Z8B+XA6Vds/JEY508fuuMLY0DeVmNs6zkZ9cghk3KDNshCLs3GVl+o1j3so+R5OWGNtQFPgRm39CkvVPtrBDaMLazcklfO/bgpbY9ALI9RcRc2yL8NPf916PbqqMYRBIIcgzc9oxkBbiwLWJXcR+/WP49hVVtexX2oxkbXxtZ03Gv1jUZ8OxEXFX0LZ+SbD64S8rs3sWDvf9HT9IADerLDucHef1nbYYJz/0aae1cguf+vRf7fseV6MrjQK8gDy3vZ2B+Cix5GWxxG8SAOtqBiso4gR+LnArsj4nVEnT3pfL3xxUJg+AMX3fEXGuy3Hnj/cOfYXSTft0X3Y9byeq0J8ujL+jZgr37Rg4I98ChyLCO+eiSVeRj0PXFYJnGRrRK/kUClFlPMTUVs9/JBX2ALjxzvZNO722hqA4I2fWR7ngITmPi/uh8Wee0yiOtF2tI3PGdogJ+n9dvi86Lnbrw5h0zXqKAN+sb7NmDf6vyt2Hl5ig14vrAXtz0wch3CH4qcv1PfA/hsLlq3kBvln+JwCyqy1RHkWPwmYV9sH+15hDZ+jNdXzOf1/2koaBtegJeNfZNjL+ilPtST3cY+aNs123RTC41ABIMTX1fL/1/lgprfsPH1wKOLjXCN6Qk2/+ueLqP/gXt/xMa/SeDfRPmg1S9S/LFr96fYnxcZ4fgTbq7xfOuTP+7r499o1L0VCheiykHuEh5Yb/Nc9MHNfbyQh1kOcrf5aPIXcDTLD+RVH6/mbOCIeB1RZ28DTnf+guW9z/N75HESwgVH/X7KrB+D3Kj+LrbcAh4hukuH9nkPAvfAkGOw0scys3z19dHxNggs8D1xuA01JrWIXxMYR4W0EHOhQ9Pj4j5xC3yBtx8q3smm+xZT/vECmz6UPU8x6HDjXxXwOaj/8maqeJe/tW+4xpjOtXLIXGCDHudZW4Tc6vomh0Xp83LiH2VXubj1BqD9CQHgXMP8nY2d9VnxuS0CC/1THG5L06raFnAsfmcQd3iW3kfv2j8DoxrHXupDZ+y+tktHiHt3aiMl0N5veB3EMXgx+V/sdF8+Iv/xKfv06QjmIiT+Xznv4+rPc8L5C5z8hv1z7Cnr2/PFSg7Qdur3BfYXb4RAHoOVf3Ud/4Lmc2zDxLdCvcW9/kve2HJJPLBS1MGHIE1zQT03Tkk8hDjYuO1HqS6aoxA/uF59vIog/Yh4HVHnzhRg0+x73mM/toCIZdhv+P4+tn/aq1w0j1SMCXqrXzxBQSyKH8uE+HKqaLc9AtG+Jw63J8egRvFrAOJQRAsxFzocYVzcpy7aF3jT0eKdbLpvKtUcR9v00ex5jkFg0c2fUGbsx5T+mZ+fP93s5BtUwXpOlkNmtA2ycibg2eT8DXp1doV9yfNyUhBrV+bcsnKlWwRgK8XP39latHPWZ2810tGGCCT5pzjckBm7qqI5Fr9h0IFRDX30bv0z8KnuuQDarD40bPq1lWg+7rW20Ij/c3eeNPeszb9+7eNeHg+7iTacl5NwTpj+GlxnHlc88jVlfHXvw8H1ok+dTgzkXNX6orcx7xHO2RHdYM+/jeP/2nLxUZdwzME2HeC7U058OZRP5YFVNM2Fx3DjfSoPIQ5oK9WtAN4Y89TqUjgK8VN1vIoE7oh4HVHnvjmw333l+qRzPs7ZL3MhcNe/Y2/aj1nLQ1tTePR6yueBBLhgbKthLBPii7qoD/XWvd0+xffE4Xa8WNUkfq2QdHIairlHGBf32U/xBd53mHgnm+6bSVXHKTZ9GHuOZJA/MuTb3c8JfvA1TviMr/8ccK8x9g3aYzp3o6IZZKbYIJvAFLLFmvumouflBD/WBlA0B7esX3O9Ew97xRbxSkeoP6XyGIq78s3ybCKFY/Ebx1/RffTO/XNVYy9gpT40zuZrK9V83Pvg6dOnXFzDyebYAp2qCIMOnExzQQ3/TqVLOH6Mg0+xUc+XOO8W13QX8YFz3sONb03gZPeccM7Vg39g44Sc991Hnl+0hNOyE9rKVyZTh7HENxXxjUVdwjF1fILt31POzRfYP0P+W3fe7WLKoUwyDxTu7muSiz6GWx0v4SHAAVcA8wv/37HRrp5gz4GM0kIEHN7RMcuVP6yPHBGvI+o8dCdg0MUb5Pu38LFIF4v6ZVHOrB+jXEt5kKV+sU9WwjGwq2Ys43ieitHqQxN4tyqa6nvi0Ar5beSIX3ucgWkrMbfqeXwqs6m+QPnunub7LNl0qjWVUT7Vpo9iz7HsAI8HKNt/VuO/ZDk/993LN7wOqN907ka5ljIhS/M3T5bbA5Oi5+WxNpCJW831bu2kmrGksxn6evPjIUdP8bsl/unuEYfFs3tqYCrH4jeOWOBUdB+N9gXHfam24ZEJ2EhVzwWgi/pQT2xD+1TbDth0UWNOtJUvA3jY1EIjS9sDQJyI8y0//m9b+Gv6n3HOv1FT2hABcbEh2DNVgQcO2j/CxmD2C31jprgubYiAfCQN7CPidUSd06yirtLisy6+2Fpwpj60PtouWiwOL+Bo7kT8tkMpuNQ8fiWd8oeVABrfLpteB6jseR1+utsGAfmxDY6lSlGcKZWZde0Sr+vwK+FucVgCC/naIH7zYduCZNiHngvsSKT8Mw/4peGK9nQLje7kUbcJqfxCyL+ej28x4i9/zr/+aULDepQQF2VwxVdws4PmQqN/XGddRsvUCvlImg0cEa8j6pxmFXWVFp918cXWqg+tj7Nhi8XhEJG2zsVvO3yqj1zPpfxhPYaWEmTT69CUPa/DT3fbICA/tsGxVCmKM6Uys65d4nUdfiXcLQ5LYCFfG8RvPmxbkKyx174syj/z4F8krlpoNE32j7h0jyuy3KqsP7G/+Bux6Vt1xRgBcWEMaKo4t6job+w/xL38K0Iuvvs6VY7KZ0NAPpIG7RHxOqLOaVZRV2nxWRFf6kMrImuiqeJwAphGssVvI0TeqqE+8haL5CP5QzJkW9wgm16Isux5IXC6LQcC8uMcqBYgU3GmABIyNEG8ZgB1Y5HicGPAN65O/G4MeJ3Vaey1E2/yzzzAl4zr3Twq1y8VpL2sX4s2NBAXRfDIFcCPsP0OPrjgSG/4KoKWUyPkI2lkHBGvI+qcZhV1lRafdfGF1qoPrY6yqwaLwytImsoQvw3RqT5yNZnyh9UQ2gqQTa/CU/a8Cj7dbIWA/NgKySLlKM4UScvqRonX1RDuLkAc7k5B1gaI36zw1i9cY69dOZR/5oG/WFw/ePr06V/Qmav7funrDkd83z/XsRAQAsdFAPGA/7X4DttHDoV3yPv1uIhIcyEgBISAEBACcQioD43DqeRS4rBkdta3Tfyux1AS2kFA/tAOl9Lk5kb2LCsQAkIgNwKKM7kR3ke+eN0Hd8taxaElmuXJEr/lcaIWCQGPgPzTI2G7LwFXtOHeQCuuG/jKLzT6ZHDxJW7g20uUhIAQEAJCQAgIASEgBISAEBACQkAICAEhIASEgBAQAkJACAgBISAEhIAQEAJCQAgIASEgBISAEDgQAlg3xLcqPRio/Pv/A96pQ+UqSOSwAAAAAElFTkSuQmCC\n",
      "text/latex": [
       "$\\displaystyle \\left[ 1, \\  \\frac{Mgl_{s} s}{ki_{s}}, \\  \\frac{Mgl_{s} s^{2}}{200 ki_{s}} - \\frac{Mgl_{s} kp_{s} s^{2}}{ki_{s}^{2}} + \\frac{kd_{s} s^{2}}{ki_{s}} + \\frac{\\mu_{s} s^{2}}{ki_{s}}, \\  \\frac{J_{s} s^{3}}{ki_{s}} + \\frac{Mgl_{s} s^{3}}{80000 ki_{s}} - \\frac{Mgl_{s} kp_{s} s^{3}}{200 ki_{s}^{2}} + \\frac{Mgl_{s} kp_{s}^{2} s^{3}}{ki_{s}^{3}} - \\frac{kd_{s} kp_{s} s^{3}}{ki_{s}^{2}} + \\frac{\\mu_{s} s^{3}}{200 ki_{s}} - \\frac{kp_{s} \\mu_{s} s^{3}}{ki_{s}^{2}}, \\  \\frac{J_{s} s^{4}}{200 ki_{s}} - \\frac{J_{s} kp_{s} s^{4}}{ki_{s}^{2}} + \\frac{Mgl_{s} s^{4}}{32000000 ki_{s}} - \\frac{Mgl_{s} kp_{s} s^{4}}{80000 ki_{s}^{2}} + \\frac{Mgl_{s} kp_{s}^{2} s^{4}}{200 ki_{s}^{3}} - \\frac{Mgl_{s} kp_{s}^{3} s^{4}}{ki_{s}^{4}} + \\frac{kd_{s} kp_{s}^{2} s^{4}}{ki_{s}^{3}} + \\frac{\\mu_{s} s^{4}}{80000 ki_{s}} - \\frac{kp_{s} \\mu_{s} s^{4}}{200 ki_{s}^{2}} + \\frac{kp_{s}^{2} \\mu_{s} s^{4}}{ki_{s}^{3}}\\right]$"
      ],
      "text/plain": [
       "⎡                 2             2        2       2      3          3          \n",
       "⎢   Mglₛ⋅s  Mglₛ⋅s    Mglₛ⋅kpₛ⋅s    kdₛ⋅s    μₛ⋅s   Jₛ⋅s     Mglₛ⋅s     Mglₛ⋅k\n",
       "⎢1, ──────, ─────── - ─────────── + ────── + ─────, ───── + ───────── - ──────\n",
       "⎢    kiₛ    200⋅kiₛ          2       kiₛ      kiₛ    kiₛ    80000⋅kiₛ         \n",
       "⎣                         kiₛ                                             200⋅\n",
       "\n",
       "    3           2  3            3        3            3       4            4  \n",
       "pₛ⋅s    Mglₛ⋅kpₛ ⋅s    kdₛ⋅kpₛ⋅s     μₛ⋅s     kpₛ⋅μₛ⋅s    Jₛ⋅s     Jₛ⋅kpₛ⋅s   \n",
       "───── + ──────────── - ────────── + ─────── - ─────────, ─────── - ───────── +\n",
       "   2           3             2      200⋅kiₛ         2    200⋅kiₛ         2    \n",
       "kiₛ         kiₛ           kiₛ                    kiₛ                  kiₛ     \n",
       "\n",
       "         4                4           2  4           3  4          2  4       \n",
       "   Mglₛ⋅s       Mglₛ⋅kpₛ⋅s    Mglₛ⋅kpₛ ⋅s    Mglₛ⋅kpₛ ⋅s    kdₛ⋅kpₛ ⋅s      μₛ\n",
       " ──────────── - ─────────── + ──────────── - ──────────── + ─────────── + ────\n",
       " 32000000⋅kiₛ             2            3            4              3      8000\n",
       "                 80000⋅kiₛ      200⋅kiₛ          kiₛ            kiₛ           \n",
       "\n",
       "  4             4      2     4⎤\n",
       "⋅s      kpₛ⋅μₛ⋅s    kpₛ ⋅μₛ⋅s ⎥\n",
       "───── - ───────── + ──────────⎥\n",
       "0⋅kiₛ           2         3   ⎥\n",
       "         200⋅kiₛ       kiₛ    ⎦"
      ]
     },
     "execution_count": 103,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Gyrd_terms"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 104,
   "id": "693cc436-1596-4f2b-9cd5-97d2a9b90c39",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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4qJ0PDNm3y2/yy77/A2FC8oz2eLVQAAAAAElFTkSuQmCC\n",
      "text/latex": [
       "$\\displaystyle \\left[ \\left[ 2.2696340625, \\  10.4066478076379, \\  0.240297605658946\\right]\\right]$"
      ],
      "text/plain": [
       "[[2.2696340625, 10.4066478076379, 0.240297605658946]]"
      ]
     },
     "execution_count": 104,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "[[ e.subs({omega_s:omega_n, zeta_s:zeta,J_s:J,mu_s:mu,Mgl_s:Mgl}).simplify() for e in sol] \n",
    " for sol in sympy.solve(\n",
    "   [\n",
    "     Msys_terms[1] - Gyrd_terms[1],\n",
    "     Msys_terms[2] - Gyrd_terms[2],\n",
    "     Gyrd_terms[3]], (kp_s,ki_s,kd_s)\n",
    " )\n",
    "]"
   ]
  }
 ],
 "metadata": {
  "authors": [
   {
    "name": "山本　昇 \\thanks{mail-to:noboru.yamamoto at kek.jp}"
   },
   {
    "name": "YAMAMOTO, Noboru\\\\J-PARC/KEK, Tsukuba, Japapn"
   }
  ],
  "kernelspec": {
   "display_name": "Python 3.9",
   "language": "python3",
   "name": "python3.9"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.9.13"
  },
  "title": "古典制御(伝達関数表示)から現代制御(状態空間表示)へ",
  "toc-autonumbering": true,
  "toc-showcode": false,
  "toc-showmarkdowntxt": false,
  "toc-showtags": false
 },
 "nbformat": 4,
 "nbformat_minor": 5
}
