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2.2.

, (1.2), , u(t) , ( ) - (. 2.1). ( ) .) ,

r(t) -, , :

. 2.1

, :

(2.3)

(2.1)

. (2.6) , s,

. 2.2

(2.6) , [. (2.5)], : ),

2.2.1. , , , .

(2.4), (2.5), (2.7) (2.6)

(2.8), (. 2.2), , (. . 2.2):

, , (. . 2.2):

2.2.2. , , [4, . 207].

, .

, , , . (2.9), (2.10)

() () s, , s. (2.12) , ( ).

( ).

, (2.13)

, (2.13) :

, . . .

(2.14), .

1. - , .

2. , s (2.9)...(2.13) , , - s.

3. , :

, , . . (2.8) (2.9), (2.10) (. 2.2).

, - , . , ( ), s, (. 2.1).

2 (2.14), :

) (2.11):

;

) (2.12):

, , .

14, . 2061 , - ,

(2.17) [. 1 (2.14)],

(2.15) . (2.14) (2.17)

(2.18) . (2.18), (2.2), (. 2.1). , , (2.16):

(2.19), (2.2), (2.18) .

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