P i

Using z-transformation of p = 1+Z, the condition for stability requires that the real part of z is negative (Re(z) < 0 ) and that the Routh-Hurwitz criterion is satisfied. For fl = 0.25 and y = 0.5, equations 4.3, 4.4, 4.5 and 4.6 become:

4z^ At2

0 0

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