Sharif Linear Control

!
" #$ % &'
. 456 * " 2 3, * ) () * +, - ./ ! !0 * +, - ,) 1
) /5 ! ;) 51 5.) * 7 58 9 .):$ ) ;< " 2 3, 2=>
5. C 10 1 / !* ! ?: * ) @ ) A@ B
E ) * :5 . 5 1 &5 .G F D ) E ) %5, ) 5 5!) , *
E) 52=> H @ 5 * :5, H @ 5 5 1 - I5! * 5. %5 ) 5! . J !) ,
J 51 C 5! 5, 52 L 5. E ) * 5 ; ,) 51 5. 5 $ * B K:
5. / 5 ! 5 N * B5 5O- ) / 5 ! " #$ % &' * P , M2 , !
S ; !) , % @ ./ ! * R: ; * .C 1 J 2Q 0 1
3Q
C Z5 7) 5 *W 56 1 V #X 1 ( Y *U =V 0 1 ./ !U T
): H
!! " #!
$ % &! " & ' ( " #!
) * & + % ,
Z, ) ) / !
/ !+ #1 ) V ! T "
Q V %, B! [ ?: + %1 ) ) B! [ " 2 UP: / !)1
* 5.): [ * 5 5.): : "5\ FS 5 1 5 " 52 B5! [5 Z ?: %1
%5, ) ) 5L 5 B5! 7) 2X / ! 0 1 ] . GSSS > .): :
0 5 1 "K 5 5\1 ) *^95 ) 5L S ! , 89 ) L %, Q V %1 :$
7):56 %5, UP: *: C `:#= Q V %1 ) B, _ ) L SB! ,_) L
5Q V %51 B5! 5 ] . 7):6 ) */ 0 X/ ! %, GJ -F )
H' ,0 1" X* , %2 ) %, Q V ) La . S @ ) , W2=
5 b , ,+ ! ! *0 1 / ! , 0; C B ) c SB! C
0 S ) d b , UP: C :, + ) [ 0 2 ! SB!
5 5, A5 SB5! ) ) 5, / 5 ! " X "6 Q V %1 %, %Q: ,
S : + & 0; C / ! %, e ):N ) / !) V! , `:#= Q V
S/ 1 C 4! 1) V!+ ): ,
!
"52> C 10 1/ ! + J 1 %- f / !+ 0 1B Q) V!
):5 %5, / ! #6 ) M ) B- ) J; ) 1 %1 B! #6 / !
S , `:#= ) L %, Q V J !)
, %L# 0 1 / ! gTg "
BV 5 %5, %1 B! C 10 1 N/ ! 0 1) #6 ] . , ,
S) / !" 1
S . B! , `:#= Q V*E d ) .h$ ) " ! #$ %&
) 1 %, *B! & a ) :Q h $ ) E d %1 .Q) " ! '
S )
1, - . / 0 )* + )* ! (
C 5 1 0 5 1 %, ; J : / ! Q V ,E d`9 7 _ @ :#Q ,
B5 Q H P ) B5! C 5 , < J; ) %1 C 4! , : 0 X &
S : 0 X / ! %, 0 1
5 5 ; +5 ) , , ) A@ _ S @ ) / ! %, &@ E d 7 XiN
%5K ) C 5 1 0 5 1 , 7 XiN S SSSSS c , @ / ! @ :! - ) A@ _ <
S . , `:#= Q V7 d , j! :
S ) ) 1 %, ,C %V i 1 $ 7 d %1 Q) '
S B! H P k:89 ): ! * E d ?: . , #$ %&
! 2
S B> / ! %,
) ) 5 5 7 5XiN 5, ) 5Q V ) 5L J : Q V ) ): ! + + 1 %,
S 10 X C 1 0 1 %, ) "6 l =V 1% L
X[ m! ,< + % / ) : 0\
) 5L G `:5#= C :59 5Q V 5 F 456 =V ) 0 !) J
+5 /5 !F @ VY 0i V nX , / ! ) j=> :Q S / ) VY
S G B!
5 i\5 S 5@ 5 C 4 ! Q V , ): ! + ! 3$4&
+5 5 ) +5 P 5, C 5 / 5! / 5 ! S 5@ C 4 5! ) ): ! a B!
S G * . * F S B! Q V
5 5. ,) 1 5V , ) ) ,) 51 6 . %! \1 ) " '
SG . F , Q V a5 ) a :
) %=L 0 1 ./ ! ,/ L
) ] . . B, _ ) ) 1 +! 5 6 T
S B! %# 7):6 %, ) " S B! B, _ ) L %, Q V J !) ;
] 5. 5 5, 5 e ) ) 1 + 7 $' 8! g
S B! $ + Q VJ 102
Q V =V 0 1 ./ ! ,/ L
5 C :9 ) L %, Q V . J; ) %1 ./ ! 59 : 8!
S B! =V ) !)
G B! B, _ ) F
; 8! g
S B! C :9 ) L , , , ) @ B Q V %1 ./ ! ! <&
G B! B, _ ) F
): : ) 0 1
0= >
000
456 h5V C % 4@ B ) ! , gooo %, : Q V XB )
S ): : c / ) ) c B!
5 S/5 ,%5 5Q V * 456 ) 5, %1 1 )1 ,/ ! 1) 1 ,c
S B! B, _ X + 46 0 Z q ,0 Z : ): p
/ . :5V 5 J; ) 5 S ) :5Q / 5 ! ) r @0 Z * ; < / !)
7):56 %, B 1 , %=, ) ) ω →θ S / 1 " 2 B >: %, ) ):$ BX !
B!
∫ω
θ
ω = ⇒ θ =
o
% ()
j5 1 /. , %1 B! . J 7 => %X: ' G ! . " F !
S . H' ) ) 1 %1 C
S / 1 0 1 ; / . :V %1 B! / ! ) 0?;
S ! , J; %, Q V / . :V %1 B! ) L 1 7 6& 0?; + @? & '; ;
S B! Q V ) ]i V 6
S @ C 4 ! J; =V <. 1 , %1 B! AB
S : C +, - * ) , Q VJ _Y C B
%5, %51 B5! C 5 1 0 1 Q V 1 0= D E 0= > + 0= '; ;
S @ 0 X/ !
S &: iN ) / ! %, % ! :V ) . 1 , - . + 4$
& : ?:
5 J 52Q & : # - h!: %1 B! [ 0 L hV %, s:, hV & : S
0i V nX , C "L ) ' / ! %, / !+ : &: S @
S @ J;
# 5! , [ 0 L hV : K: ) t: K: ) & : Sg
) J; J 51 # 5 h5!: 5 . J; C 5 1 : SSS / ! , 4# " ,:
S 1 0 1
S @ 0 1 J 1 7) , @ ./!) [ ' nX , L &: S
5 @ N ):N 7 => V , S B! . 0: : B1 _ ) #V & : Su
& :5 & ! 1 2 ' "3 1 ' 1 : /1 & : %1
S . <. 1 )
A5 35 Q k :5V ) %51 . ./ ! 1 + 06 8!
S , Z .
) V! ) F& $G* H5 8!
4 1 5 S J , B, _
−τ 1 −τ
%5 : 5, S 5 1 5 ) 51 J 5 , % !: .0 Z! , F& * 8!
S @ ' % @ 0 Z ! * % !: 0 Z ! ) ,
' &$ & $ %# !"
.# *+ ,- + )(
34 5 # 012- )/
8 75 4 1!" )6
: ; <= >? )9
HG 4 J#4 GI & CDGE= H- F CDE= .# *+ :* " A4 : + *B @ .# *+ ,- +
KL
1
.# *+ ,- +
= = 0
@ M41
S 4 .# *+ ,- + R# JPQ $O: N# .# *+ ,- + )(
SA 4 $&$ O I - H I4 U N# .# *+ ,-41+ "41+ F? T # )/
): 4F H- & A4 .P ? .# *+ ,- +
× 6 = /0
$ × 6 = /6
6 × 6 = 6
): 4F G& $ V *+ 4 .# *+ ,- + )9
) #Y F? : - KL H 4 J#4 I :X+ .# *+ ,- + )W
) #Y : H- "41+ F? 1 A4 (
) #Y ?: H- R + !I & A4 / @ .# *+ ,- + U Y: -
) #Y : - "41+ F? . "4 K# H >? & A4 6
@ R + !I A4 .# *+ ,- + U Y: -
@ .;4 ?
) #1" F? 4 Z4[ 4 <= >? )(
) #1" F? 4 Z4[ 4 $ V *+ 4 <= >? )/
) F? & 5 CDE= KL H 4 J#4 I \1Q <= >? A4 )6
) F? ] ; 4 & H- F CDE= .# *+ :* " )9
) # Y: -4 #A .# *+ ,- + G _?
@ Z4[ 4 <= >? ` I1" G 4 H2; ?
=
= / ∫ 0
@ Z4[ 4 $ V *+ 4 <= >? G 3 H2; ?
= +
=
@ 5 CDE= G 31 H2; ?
=
/
=
= +
=
@ 3 aT H2; ?
/
/
= = =
/ /+
+
^
@ # Y: -4 #A .# *+ ,- + @ _?
@ Z4[ 4 <= >? G 4 H2; ?
= =
3
= =
S b?4 c Q c 3 & 4 - O ) : 4 U N# H $ &4 - 1- F# H- H -4 H $ 4 P?
@3 H2; ?
= + +
5 CDE= @ 31 H2; ? @
=
= =
dE
= + +
[ ]
3 aT H2; ? @
= + + = + +
/
=
+ +
) # Y: -4 #A $ .# *+ ,- +@ ( `# !+
): 4 3 : ; -4 - b?4 Q U I A - ,!
F# ! $4
• • ••
= = / − =
− − =0 =
@ . "4 K# H >? A4 .# *+ ,- + U Y: -
@ $ . "4 K# H >? 2 : ;
+ −/
−/
+ + /
•
+ 0 =
+ −/
−/
+ + /
•
+ 0
S F#18f E U - OFe2B & $ ≤

@ F? & 5 CDE= c KL H 4 J#4 I
+ −/
−/
+ + / + 0 =
+ −/
−/
+ + / + 0
KL &4 H2! T
+ −/
+ + +
= = −/ / 0 m n &4 H2! T
+ −/
−/
+ + / + 0
R# 2 .# *+ ,- +
S ≤ I- 2B 54 O
@ _?
h 4 T h : 4 F2B g # : 4 F2B #Y ) # Y : -4 #A . "4 K# H >? - .# *+ ,- +
••
+$ •
+ = •
+
5 CDE=
+$ + = +
+/
dE = =
+ $ +/
4 #A : 4 F2B =/ = 7⇒ p
) : 4 i j? U41+ _ 4 ; < 1L U41+ _ 4 ; H
@: 4 2B g c f - R# 4 T
+ + +
= / 0
+ + / + 0
P+ .!B 3 k"4 -
= −
+ "!n-
H 2B 31 P?
) : 4 FQ ) : 4 Fe2B g :- l 54
= ⇒ = ⇒ =
+∆ −
= •
⇒ = &
∆ →0 ∆
) : 4 Fe2B g I-∆ f0 54
h Fe2B g # : 4 Fe2B #Y ) # Y : -4 #A . "4 K# H >? - .# *+ ,- + @ `# !+
•••
+$ •
+ = ••
+
) $ F? U f" 4 Z4[ 4 V *+ 4 H : 4 N Q4 5 %# !" o R# 34 5 # 012- @ 34 5 # 012-
@ 34 5 # 012- $ . Nf+ &4[ 4 p

9 8
# 012- )(
] >f"4 )/
) 478- lq+ F & # *" ] >f"4
) "1I F? & * ,! 8 T c k"Y H : 4 &4 H P" @ ,! H P" )6
= + −
- -
/ $
9/
@ _?
@ 34 5 # 012- U
@& & $ 012- )(
≡
= /
=
= / ⇒ = /
@&4A1? & $ 012- )/

5 F? ,! $ - a"Y F H I4 U N# & &A41? & a 12-
-
-
= / ± / = /
= / ±
@FN#[ Q & $ 012- )6
≡
/±
= Ι
) F? 4 E 4 "Y c r7; &4 -
= m C
= [ m ]
& 475 -@
=
/±
@ #A .NI &A @ _?
& - S S&A41? O S& O O
[ [ ] ]=
"
/ $ + ) 6
I HN*I
R- Q $ 012- H -4 H- H 1+ - =
/+
@ 4 #A @ _?
# !
) " 4 " U N# & c $ UY F U I ,! g F2B 4 #A " &A41?

@ F? & 475 4 c ,! V P" A4 >- @ F+ * X? .; 4
= +
= −
/
 6447448 
= −  +
 
 
/
+
= = /
/+ /
@ FN Q4 5 G 3 .; 4
$%
-
- -
- -
/±
-
- -
/
- /+ /
/
-
- /+ -
/
6 
= 
+ /− 
474
8
 /+ 
/
:
 /

) 4 #A @ `# !+
-
-
-
- -
@ R + !I A4 34 5 # 012- U Y: -
@ .;4 ?
) #1" F? A1; 4 a"Y V *+ 4 Z4[ 4 <= >? )(
) F? 4 Z[ $ - s ? & $ 012- )/
) F? .? 4 34 5 # 012- & :! H- F A4 )6
@ _?
=
/
=
= +
=
 → →

# 4 : ; :? P? &4 - @
 →/ →
 →/ →

# 4 : ; [ " UA &4 - @
 → →
 → →

→/ →
I4 t2 54 @

:? P? 3 H -4 A4 UA 3 H -4 A4
#
& / /
) 4 #A 34 5 # 012- @ 9 `# !+
^
@ 8 75 4 1!"
@: 4 t L1+ &4 - FN Q4 5 o R#
>? H Iu( @ Z4[ 4
>? ) : 4 ] >f"4 $ : 4 ,! $ 5 u/
! / = = / + − $
1
4 24 3
$F
# #
& ≠
$
A4 >- ] >f"4 ?4 " ? Fn - 5 < 1L H- # - S 1I F!" 5 R# O 1I F!" FN# ,! - ,! A4 .*n ] >f"4

) 1I 5 R# UY - "41+ F? ,!
;
≡
; ;
;
@ H 4 t# >+
) ' ( F 5 "#$%& & 5 ._? 4 %# !" 5 R# - U41+ F? 4 F2 4 8 $@ 5
) P "4 3 - &4 a- - 4 :a J E R# A4 : + *B @ H I
) 5 Fv - R# _ 4 ; 5 $ HN #4 H- V f? $ %2Q :a 5 H2L Q U 1! E @ ?
): 4 ? $ P "4 ] w2L ; @ ? a-
) 5 F 5 H- x I & 5 A4 H : 4 & ?@ fE ?
) fE ? $ P "4 ] w2L ; @ fE ? a-
) : 4 FN# UY H!+ x I 5H : 4& ? @ S HP2; O H - ?
) HP2; & $ P "4 ] w2L ; @ HP2; a-
) " 4 "F f? 5 y $ H F# $ HP2; @ 4[k? & $ HP2;
@ 4 #A @ _?
- - -
- - -
$ - "41+ F?
) "1I
U A4 dE @
fE ? 4 >+ @ + 6
$ HP2; 4 >+ @ + 9 → − / − / / − / $ − $
) # 4 " 4[k? & $ HP2; !z

@ U1 ? a- 1? Q
r4 5 F2 a- ∑ ∆
S .# *+ ,- +O =
∆
) 3|4 ) fE ? a- @
∆
) 3|4 ) fE ? r7; A4 .L ; r4 5 U ? + @
) r4 5 U ? + @
∆
∆ = / G S r4 5 & $ HP2; a- x1!k? O { S 4[k? & $ HP2; a- ][w2L ; x1!k? O G S 4[k? $ HP2; H a- ] w2L ; x1!k? O { )))
I - F? ∆ =/ 4 " 1 HP2; H FQ4 5 @ H 1+
@ 4 _? F2 a- U Y: -@ _?
/ = /× /× / × $ ×/ = / $ ∆/ = /
) " 5 F? r7; $ 5 3 !+ ? `#4 r7; -
= /× /× × $ ×/ = $ ∆ =/
$ = /× ) ×/ = ) → c ? `#4 r7; -
) " ? F? Fn -
∆$ = /− − / / − / = /+ / / +
/ = − / /
= − & $ HP2; c !z
/
) # 4 " 4[k?
$ = − / $
) = − $
∆ 7 ∆ =/− / + + $ + )
∆/ + ∆ + $∆ $
` #4 - - = = /
∆
) F? & 475 & 4 Y: - # P? :# a" H
@ # Y: -4 #A .# *+ ,- + @ _?
5 4 8 "4 `5
−66
! $ /0 / !
- −6 W A4 "4 H- $ q+ 012-
) H ?4 (~/ t >w+ H " l
5 } f?
= × /0 × ! −6 = ∆/ = /
$ / /6
/ ! −6
= × = = × × /0 = $0
$ 6 /6 $
/
∆ = /− + = /− − $0
/6
/
∆/
= = /
=K
∆
@ _?
- -
- - -
fE&$ ?
): 4 +H
- - - - -
-
/
/ = / =0
     
 = × 
/ // / /
   /   
/ = // / + / ⇒ / = /
/ =0
= / / +
): 4 $ $ "!n- ? a+ fE ? r7; -
/ = / ∆/ = / − − $ $ = /+ $ $
 =−

→ =− → =−
/

$ HP2; @
=−
/ / / / $

→ =−
) $ ) /
 =−
$/ 6 $ $

$ 4 N+ * & $ HP2; H
→ =−
= > )
) F? r7; 4 *
 +
) < ) )
 > / $ )
@ I - F!" 4[k? dE f? =− / / =− / / U1T
4[k? & $ HP2; @ / $ / 6 / = / <
6 = <
$ 6 $ = $ <
6 < ) I - F!" 4[k? &4 HP2; y $ - HP2; ) −

4[k? &4 HP2; H @
H I1" 4[k? & $ HP2; & A4
) "1I F?
/ $ 6 / $ = / $ <
/ 6 <
6 <
$ 6 <
4[k? & $ HP2; aT @
/ $ 6 <
∆ =/− / + + $+ + < + / $ + / 6 + + 6 < − / $ 6 + + $ 6 < +

+ / $ 6 <
∆
= /
= / /
∆
/
) # Y: -4 / // @ W `# !+
S) : 4 N" €+ r4 5 4 #A : 4 U N# \1Q H2• ? - a"Y ∆O

' + & ,+%& S : ; & wQO : ; <= >? u9
.# *+ ,- +
&
/
F F
&
A4 F2 4 t L1+ F t L1+
@ H 4 t# >+
H•X $ 4 F c& A4 xDv4 4 !a- $ UY A4 xDv4 H : ; & $ € ? HB1!k? `# NT1 A4 : + *B @ : ;
{/ } ) # !" ‚jf? U ?A A4
 
 
/
=  
  @ : ; € ? .? I & 4 - @ : ; 4 -u
 
M
 
) : 4 : ; & $ € ? & $ 1X? - & >ƒ- & wQ @ : ; & wQ
@ : ; <= >? 2 3 |Q
R# G & R#
1F
4 -
/×/
×/ d# + ?
 " = " +
"
d# + ?

× "
 = + $
×/ d# + ? "
×/ & 4 -
): 4 4 - / : ; d# + ? . ) : 4 4 - G $ V *+ 4 N 4 - !z
 = " +
2 & , -@

1F
 = + $ × / d# + ? 0
.
!z ) : 4 ×/ d# + ? # × d# + ? / ×/ 4 -0 × d# + ?
×/ d# + ? # #× d# + ? - × / d# + ? 0 #× d# + ? # ×/ d# + ?
) I- ?
: ; <= >? U Y: -
R + !I A4 )(
. "4 K# H >? # .# *+ ,- + A4)
# 34 5 # 012- A4 )6
@ . "4 K# H >? # .# *+ ,- + A4 : ; <= >? U Y: -

@ @ I - F!" 1 1? H >? & } f? # 4 " KL @(o
): 4 ? = /? H N"
= 0
/ + −/
−/
+K+ 0
⇒ + −/
−/
+ K+ /
•
+ 0 = 0 ⇒
=− 0 − /
•
− ••
−K− −/
−/
+ 0
=" + = +$
@ 5 t# >+ 41j 4 >+ H- "41+ F? S H *!$ d# + ? o O : ; & $ € ? t# >+
 =  = = →Ι

• •

=
/ /
  = = →
• • ••
 = 
$
  = = →
••
 
• •••
$
⇒
$ )

  = =
 = 
− • −/
−/
  =
−/
 = 
−/ •
•
= =− 0 − /
•
− ••
−K− −/
−/
+ 0 ⇒
⇒ •
=− 0 / − / − $ −K− −/ + 0
) # 5 . Nf+
•
= " + 3 Q dE
F H >? = /
F # +?3 Q @
 /•  0 L 0 0     
 •     
0 0  
& A4 / 0 / 0
  0 0 /    0 
     
H >?
 
       
0
 M =   + 
M
  
M M M
    
 •       
 −/  0 0 /     
 •  −   
0 0 0
− − − −/  
−/
   0 /    0 
) $ FK ? :?DB - i j? m„4 z − 0 − / K− −/
 
= [/ 0 0 L 0]  

/
   +[ ]
 =  
0
 
/ M
 
) I - H I4 " KL H : 4m ? F# JPQ o `#4 @ \1Q .Nf?
S : 4 $ KL 4 >+ a* n 4 >+ H p O I - KL 4 4 "41+ F? G/o
+ −/
+K+ / +
F2 : ; @ = −/ 0
=
+ −/
−/
+K+ / + 0
S I - F? m# z O) " 5 P+ - m„4 z 3 !+ # - I - ≠ / 54 I - =/ # -
+ −/
−/
+ K+ /
•
+ 0 =
= + K+ /
•
+ 0
- 1+4 E|4 t# >+ @
$ = $=
$ + −/ $ −/
+ K+ /$ + 0 = $ + −/ $ −/
+ K+ /$ + 0
& 475 3 " @

Ζ = =
$ + −/ $
−/
+ K+ /$ + 0 $ + K+ /$ + 0
⇒% + −/ % −/
+ K + /% + 0% = ⇒
⇒% = − 0% − /% • −K− −/ % −/
+
@ S H *!$ d# + ? o O: ;&$ €? €+
 / =%  •
/ = %• =
 
 = %• •
= % •• =
 $
 =% ••

 $  M
 
 ⇒
 −  •
=% −/
=
 −/ =% 
−/
 =% −/  •
=% =

= − 0% − %• −K− −/ % −/
+
=− 0 / − / −K− −/ +
H >? @ = 0 % + /% • +K+ %
dE = 0 / + / +K+ +/
^
@ d# + ? 3 Q
 /•  0 L 0 0  /   0 
•     
0 0  / 
/ 0
  0 0 /   
       
       
 M  =   M  + M 
  
M
    
•       
 −/  0 /   −/   0 
•  −   
0 0
  −/ − − −/ / 
 0   
 / 
 
 
=[ 0 / K 0 0 0] M  +[ 0 ]
 
 +/ 
 
 
@ #1 - 4 #A H *!$ : ; <= >? @ _?
= $
+) +$
S † …O 4o G .;
"
 0 0  0 
6 447 448 }
=  0 /  +  0 
/
•
0
 − $ 0 − )   
− 0
3 o (
i j? m# z m# z FK ?
= [/ 0 0 ] +[ ]
$
647 48 647 4
8
0
3 o /
+$
_? @ = $
+) +6 +=
0 0  0 
" =  0 /  = 0
/
0
− = − 6 − ) /
= [0 $ /] $ = [0]
@ # Y: -4 #A H- H *!$ : ; <= >?@ ‡ `# !+
+
= $
+$ + +/
) : 4 $ ≠ 0 .*n o rD - M : ;G
&
= = +
$ $
) I - F? $ = [ ] !z # Y F? : - / . # P? A4 H
$
) : 4 i j? A4 NT1 3 H !;
@ #1 - 4 #A H *!$ : ; <= >? @ _?

+$ +
=
+/
+ +$ +/
+
+ 0 +/ / ⇒ =/+
+/
+
 0 / 0 
"=  =  =[ ] $ = [/]
 − / 0 /
` #4 - - @
@ #1 - 4 #A H *!$ : ; <= >? @ ˆ `# !+
$
+$ + +)
= $
+ $ +/
@ : ; <= >? 34 5 # 012-
 •
= " +

 = + $
% '
% • *
∫
# #
(
# #
/×
) # 4 * +
)
) ‰#1>+ 4 a"Y m„4 z U41+ ? dE I- ? $ - /
) I - F? /× × / ×&/ $ *? /
@ # 34 5 # 012- A4 : ; <= >? U Y: -
) # Y: -4 #A : ; <= >? @ _?
− + $
- /
+$ + /
-
-
$ /
+/
= ⇒ + = ⇒
+
/ /
⇒ + = →
 + =
−/
•
/ / / /
4 H >? @ •
/ =− / +
=[ − − ] /
+$
$
+$ =− − + → = −) − +
−/
•
$ $
= → = −
1v ` !$ @ / −/
+/
•
$ / $ / $
F H >? @ = /
− + 0 0
" =  0 − ) − / = /
 / 0 − / 0
= [/ 0 0] $ = [0]
@ Š `# !+
- /
/ /
+/
+ +
$
$ +/
@ : ; <= >? A4 .# *+ ,- + U Y: -
 = " +

•
 = + $
 χ − = "χ +

@ & 5 CDE=
= + $
0
 χ
 / 0 
[ 0 ] 
) I - F?  < 1L H- H 4 J#4 I 4 - [0] H
χ = 0 +
 M 
 
×
[ 0 ]
) F? ] z × F" !$ d# + ? 4 UY c 4 - H- B .# *+ &4 -
dE
[ × − " ]χ = 0 +
= − " 0 +
dE
χ −/
[ ]
d# + ?
ϕ = − "  → ϕ
‹ Q - −/
−/
× ×
=ϕ 0 + ∫ ϕ λ −λ λ
0
= +$
= ϕ ϕλ −λ λ
14243 ∫0 144
0 +
424443
KL & Œ E KL : ; Œ E
= +$
⇒ = −" −/
0 + [ −" −/
+$ ]
= −" −/
0 +$
@ # Y: -4 #A .# *+ ,- + @ _?
 0 /  / 
− +  = [/ 0 ]
− 
dE •
  
= −" −/
+$= −" −/
+0
/ 0   0 /   −/ 
−" =   − − =
 0 /   −   + 
? + ∆= −" = + +
 + 
 + 
/
+ + +
/ + /  
−" −/
=  = 
∆−   − 
 
 + + + + 
U1T = − " −/
= ϕ
)
/
= ([/ 0 ]ϕ 
 
/  + )
= + / ]  =
/
[
∆   + +
@ # Y: - #A J-4 H- H 1+ - 4 ϕ \1Q _? @ `# !+
β
! −α β
−/
→
+α +β
+α
! −α " β
−/
→
+α + β
@ϕ U Y: - aI
ϕ = −/
[( − ")
−/
] @ 4o u(
ϕ d# + ? L B + # 5 ? C1N>? CDE= −" −/

d# + ? L B R+ R+ A4
) I- ? $× $ × $ d# + ? UY - ) #Y : -
!" J - A4 K 4 @3 o u4
/ −/
− −/
= → ! =/+ + +L
− /@ @
−/ " "
−" −/
= → !" = + + +L
/@ @
" "
ϕ = !" = + + +L
/@ @
) " KL 4 _ 4 . L B H : 4 n @ -
@ ϕ M41
u(
• •
=" + →
=0
=" ϕ + ! " →ϕ• = "!"
=ϕ 0 :Q # 4 0 U41+ ?ϕ H 4 J#4 I ] z A4 u/
/ = ϕ / − 0 0
 = ϕ −

0 0 / /
u6
ϕ − =
−/
/ 0 / 0
ϕ −/ / − 0 =ϕ 0 − / u9
ϕ −/ =ϕ − uW
ϕ − / ϕ / − 0 =ϕ − 0 u‡
ϕ =ϕ uˆ
) ] ;4 !" @ _?
 0 / 
"=
− − 
ϕ = !" = [( − ") ]
−/ −/
/ 0  / 0   −/ 
−"=  − ⇒ −"=
0 /   − −  + + 
/  + /
−" = =
` #4 - - @ − "  − 
 +   +/ +/ 
 +   + / + /
/ /
+ + + +/ +/
  
= =  →

−/
 −   − 
   +/ +/

+ / + /
 + + + +  
!− " + 
!" =  
!−
 
 − !− !− " − 
KL H 4 J#4 I $ = [0] = [/ 0]
/ 
=   ‹ Q - \1Q
 
_? @ (… `# !+
0 
) # Y: -4 # ;4 H2E 0 = 
0 
= ϕ 0 +∫ ϕ λ −λ λ + $
0
@- $ 1+1? A ?
- Q •? f5
'* = ( +
F F"4
S : >n1? O F# H-
• θ
θ
= ω=
:B
θ
= = α= =
] I ) &4 H# 4A ] I
= ' = (α
): 4F #4 U !ƒ? :- l 6
= ' =
F Q
= ' = θ &1P2; Q
1+1? f5 U4[ ? ' =

⇒ =1!>? H ' ='
- FQ •? f5
' = (α =
= ′+ +
= ′
) 1I F? + #A $ R- & • :Q4 c :B %#4[Q4 -
= ′ +
@ Ž? Y - 5% 1+1? u(
^
+ ←
→*
Ω = !
) 1 F!" H- o `# 4 H -4
Ω
= ' = ′′
= !
= ! @ U4 ? -- 1+1? u/
Ω
= ) 1 F!" H- o ` #4 H -4
@ 31 .•Q
$ 5 "? 475 Œ E -
4 " 4 $ )(
4 H*+ ? $ - )/
3 H*+ ? $ - )6
3 H*+ ? $ H- m n KL U HQ z4 l4 )9
5 "? x1" )W
R- Q <4 l4 )‡
4 # E )ˆ
2 : ; u ] I u m I ‘ H2E u H- z @ •# ,-41+ (
H2! T) @ 4 " 4 $
1 )
@ ;4 H- z
0 ≠0

δ = =  0+
∫0− δ
0
=/
δ 
→
@ ;4 g H- z
0 ≠0

= =  0+
∫0 − δ
δ
=
0

→
@ ;4 H2E
δ
0 p0
= −/ =
/ f0
→ /

) : 4 5 4 8 "4 :n1"Y ’ I - S .# *+ ,- + O . 4 54 ?4 : 4 ' H2E I- 8 54

/
@ ;4 g H2E
0 p0
= −/ =
 f0

→
@ >n4 H2E
∆
= & ∆ →0 ∆
0 ≤0
= =
@ ;4 m I

, −
f0
, → /

@ ;4 gmI
, 
→
0
= =
p0

, −
f0
@ ;4 ] I
0 ≤0
= =
 /
−$
f0
@ ;4 g] I
0 ≤0
= =

−$
f0
@ 4 H2! T $
= ( 0 + / + + K+ +K ) −/
/
@
/
→ +/
@
= 0
+ /
+ $
+ K+ +/
+K
) 5 ? K 4 X ? oA4 - @ -
) : 4 5 " ? : >z z; ; ># # " −/ < *B n
@ 4 H2! T $ H- 7 !„4 : ; Œ E
&4 H2! TF
&4 H2! T& 1
Sm ?H -O
) # Y: -# H- 4 #A Œ E @ _?
••
+ /
•
+ 0 = /
•
+ 0
= 0 + / +
.; @ ••
= / +
H >? 3 r v = / / + + 0 0 + / +
H >? 3 r v = / / + 0 0 + / + 0 / + 0
) I-/H A4 # - [ " 4 r v dE ) : 4 / H A4 4 H2! T H >? 3 r v
): 4/H A4 `#4 - -
= 0 + / + ) I- ? 1ak? # P? / 0 H
•
= + ••
=
= + + + + +
/
H >? 4r v
= + + + + +
/ / 0 0 /
/ / 0 0 / 0 / 0
 = →
#Y F? : -

 + / = + / →
0 0
#Y F? : -
 + + = + →
/ 0 / 0 /

#Y F? : -
/ / 0 0 / / 0 0 0
@ 1
"
= "" 
→
+
o
o
"
= " 
→ o
+
o
o
@ ( `# !+
= "" o − θo 
→ !− o
=" o − θo
@ 4 H*+ ? $ -
= =−
+
m n KL 3 Q &'(
! "# $ %
= τ
/+τ
F" ?A :- l 3 Q 7$
8# N# \1Q & $ 3 Q .# *+ @
 =  =
  τ
 
τ = /  = /τ
/ @ H2E Œ E ` Q #
+
4 #E: ;@
f0 − p0
/ / ×
+ +
$ ?["4 # $ 4 P? H -4 `#4
= /
+ H = & →0 =
+
/
= & →− + =−
−
`#4 - - @ / /
= + ⇒ = −
+ +
/ /
= −
+
−
⇒ = /− !− −/ 
→ = /− ! τ
−/
0 0
τ /− !−/ = 0 =$
τ /− !− = 0 >6
$τ /− !−$ = 0 A6
)τ /− !−) = 0 A>
6τ /− !−6 = 0 AA
M M
∞ /− !−∞ =
) : 4 ! “ (…… H- R# [" $ : ; H- :* " UY 4 #A # Y : -S 8 ( O /τ 4 # P? : 4 a-
S $ ; 1 < 1L O@ # a" 4 P? H wn
∞ = & →∞ = & →0
∞ = & →0 = =
4 #E 4 H*+ ? 1? @ _?
0 + = & →0+ = & →∞ @H 4 4 P? H wn
_? G 4 #E 4 H*+ ? 1?
0 + = & →∞ =0
[ ]
@H 4mI
• + • +
0 = & →0+ = & →∞ − 0
) I- 0− = 0 54 0 + = & →∞
0 + = & →∞ •
= & →0 [ − 0+ ] @F# a" m I
0+ = 0 ⇒ 0 + = & →0
[ ]
@H 4] I
•• + •• − • −
0 = & →0+ = & − 0 − 0
•
0− = 0 0− = 0 ⇒ ••
0+ = & →∞
$
@F# a" ] I
••
∞ = & →0 $
) # Y: -4 4 #E 4 H*+ ? H2E Œ E # a" H 4 m I @/ `# !+
) # Y: -4 4 #E 4 H*+ ? H2E Œ E # a" H 4 ] I
•
0+ •
∞ ••
0+ ••
∞
^
@ 4 H*+ ? 4 #E" $: ;
. 9+
/ = −/
): 4 I X? " c X? 1 - 4 #A @ 4 # E " : ; x1n
/ !+:
= / − !− −/ ): 4 4 #E"
/
+
@3 H*+ ? $ -
= +
+
0
/
dE − ± −)
/ = / / 0
#A t2 j? $: ; - 4 4[k? P P; m n H ∆= / −) 0 f0 @ 4: ;
) 4 ? P P; m n ∆=0 @3 : ;
) : 4 J2 j? i [? m n 4 4 ∆p0 @ 31 : ;
− ± −)
/ = / / 0
= −α − β
4[k? P P; m n 1 ←∆f0 @ 4: ;
I - ,n4 6 ; 1X? ”T :! m n $@ 4 #E: ;

=
+α + β
/
H2E Œ E = ×
+α + β
= /
+ + $
+α + β
H / = & → 0 =
αβ
= & → −α +α =
α α − β
−
= & + β =
β α − β
$
β α
/ α − β α − β
= + −
αβ +α + β
/
= /+ β ! −α − α ! − β −/
αβ α − β
) ? ` - A4 + A : 4 + K ? 34 $ − β −α ` - A4 4 ? .?41B
/ /
) 5 ? KL α A4 + # β " ?A :- l
@ 4 #E": ;
−α p 0 −β =0 .
/ → → =
+ +
F„[ & $ A4 K 4 - = /
+ + $
+α
H = & =
/ →0 α
= & →0 =−
α
= & → −α +α =
$
α
α / /
= − +
α +α
= α − / + ! −α −/
α
B
−α p 0 −β f0
=
+α +β
 
= / + β! −α − α! − β 
αβ  α − β 
4 #E: ; " !$ −/
0 ∞
/ → →
+ β
= β − / + ! −β
β
−/
∞ -
−α f 0 −β f0
=
+α +β
/
= /+ β ! −α − α ! − β −/
αβ α −β
∞ ∞ 4 #E "
? P P; m n ∆ =0 @3 : ;
−
/ = /
= −α
=
+α
4 #E: ; − α p 0 → ) : 4 :*_? α
/
= = /
+ + $
H2E Œ E @ +α +α +α
H = & =
/ →0
α
= & +α =−
→ −α α
= & +α =−
$ → −α
α
/ α /
= − −
α +α +α
dE = / − α − / ! −α
α
−/
S 5 " ? : ; O F# a" =
α
) 1I ? ?" "4 X- „4 ? 3 " H- : >z `#4

) : 4 3A= 4 # E H- U 4 - U ?A :- l ‡
J2 j? i [? m n ∆p0 @ 31 : ;
− ± ) −
/ = / 0 /
= −α ± ( β
=
+α +β
a* n 4 1!"
@ 4 #E: ;
α +β
−α p 0
= ×
H2E Œ E /
+α + β
+ α + $β
= +
dE
+α + β
/
=
[ +α + β + ]
+ α + $β
+α + β[ ]
/
 /+ =0

 α / + α + $β = 0

 / α +β =

 =
 α +β

/
 −
=
 α +β
−α
=
β α +β
$
^
+α +α ×β
= −
/ β
α +β +α +β
+α
= ! −α = ! −α "
β
+α +β +α + β
I - F? β β H
 
= / − ! −α " β + β 
α
α +β  
−/
β
=
α +β
dE
@ 4 #E" $
.
−α = 0
=
β /− " β −/
S) " F? H- $A U 1" O „4 F" 1"

/
 α 
=  / − ! − α " β + β 
α +β  β 
−/
) 4 4 #E " ? F2 2X+ c Fz # •" A4

@3 H*+ ? $ 4 " 4 < 1L
[ ? " g N "1" 4 " 43 Q

= ω
=
+ ηω + ω
S : 4 -4 - " i j? < 1L :- l B O ) #Y ?: - ω 4 P? S - : ; O
[ ? " N "1" 4 " 43 Q

ω
=
+ ηω + ω
4 G GP? S - :GGG ; O
ω
) S : 4 -4 - i j? < 1L :- l B O ) 1- $41 S [ ? " O =/
ω
( Z4A4 H- H = ω t# >+ U41+ ? 1I [ ? " " ? [ " [ ? " g : ; HN"Y 4 -
) 1I ? [ ? " < *B
η @ #4 ? :* "
ηω @ #4 ? m# z
ω f0 S I4 ?O > *v d" Q
[ ? " H >? A4 @ / = −ηω η −/

@ 4: ;
η p −/ # η f/ ⇐ ∆f0
/ = −ηω ±ω η −/ @ I- η f/ 54
# I F #4 ?
@3 : ;
η = −/ η =/ ∆=0
 = −ηω ± ω η − / ⇒ = −ω

η = /
/ /
− ηω
54 ω = 07 / =0
η = −/ 7 / = +ω
@ 31 : ;
−/ p η p 0 η =0 0 pη p/ I- ∆p0
/ = −ηω ± (ω / −η 7 0 p η p / 54
α = ηω
β =ω /−η
ηω
ω =ω / −η " = =η ⇒ θ =" −/
η
ω
θ = /−η
I 4 ? F> *v d" Q
η
" θ =
/ −η
54 η = 07 / = ± (ω „4 U 1"
54 −/ pη p 0 7 / = −ηω ± (ω / −η
0 ≤ η ≤ / t >z #4 ? - H2E Œ E
 
=  / − β + θ 
! −α
α + β  θ 
−/
# 4 H F+4 €+ - @
= ω
α + β =ω α = ηω
β =ω /−η
 
= / − ! /−η +" η 
− ηω
ω
 /−η 
−/
 
−/
 
=  / − + θ 
! − ηω
ω
 θ 
−/
@ t >z #4 ? Œ E $ ?4 E H* X?
4 P 4 # : f" U ?A
S• O # i 4 U ?A
1>L # [ U ?A
,
@ t# >+
) - 1 4 P? _ 4 ; H- H : 4 " ?A @ <&+( ' & • # i 4 U ?A @ )(
•
=0 ⇒ ω =0
ω = π
π π π
dE = = =
ω ω / −η ω θ
π π π
=/ 7 = = = =
/
ω ω / −η ω θ
+0 "=&$ >"" :Q 4 Q _ 4 ; ) /
= −
−
&!C
_ 4 ; %a 4 Q :* " = &!C
−
L m ; - D = &!C
× /00
π
ω
 ! −ηω 
= = / − ω + θ 
 θ 
&!C U1T
 
 
−π
η
= = /+ ! /−η
 
 
` #4 - - &!C & * 3 Q
F+ _2_? 3 Q (
= / + ! −π " θ
)
=
&!C
η
−π
/−η
%a 4 Q _ 4 ; = &!C − = ! −π " θ
= !
η
−π
− /−η
_ 4 ; %a 4 Q :* " = &!C
=! = ! −π " θ
η
−π
/−η
_ 4 ; %a 4 Q L = /00 ! = /00! −π " θ
) - H- H : 4 " ?A @ 3' & ' & S [ O 1>L U ?A )6
π −θ
= ⇒ (ω +θ ) = 0 ⇒ =
ω
6—(9 U# 4 m ; -
π −θ π −θ π −θ
=/ ⇒ , = = =
ω ω / −η ω θ
@ 1>L U ?A 8# t# >+
) - # a" 4 P? “ –W H- # a" 4 P? “ W A4 H : 4 " ?A •
) - # a" 4 P? “ –… H- # a" 4 P? “ (… A4 H : 4 " ?A •
5 " ? 4 P? “ W - “ / < " 1" X? H : 4 " ?A @ & &?' @ ' & 4 P 4 # : f" U ?A )9
) I-
/ )
D = ) =
ηω ηω
/ $
D6 = $ =
ηω ηω
) - 5 " ? 4 P? “ W H- H : 4 " ?A @ 5&?+ ' & q+ U ?A )W

! − (ω J -
=06
J -
/ + 0 <η &4 -
F*# P+ H -4 = 0 pη p 0 <
ω
"
) I- D = =0= H ` >+ 1v 4 / # P? @ _?
/
-
+ +>
;4 H2E 3
= =
/
/+ + +>+
*
/
= × = × =
/ / / ω
+ +>+ + ηω +ω
*
/
E
m# z m# z

 = × = 0 = = 0= ⇒ = /
/
 >+
& → 0 * /

∞ =
/

F# a" 4 P? H wn
& → 0
= = ηω ⇒ =
)
D ηω
ηω
⇒ = = = ⇒ = )
) >
D
^
D , D θ ω ω η # P? c #A @ _?
# Y: -4
- /
/
& +/
[ ? " 4 " 43 H*+ ? 2 : ;
≡
ω ω
+ ηω + ηω +ω
ω =/ ⇒ ω =/
ηω = / ⇒ η= / ⇒ θ =" −/
η =π
$
ω =ω θ = /× $ = $
π π π $
= = =
ω $ $
−π $
D = /00 ! −π " θ
= /00 !
π −θ π − $
π
= = = #Y F? : -
ω
,
$
/ + 0 <η
= = /0$ = => "
)
D
ω ηω
)S : 4 H*+ ? O) # Y: - 4 UY .# *+ ,- + ) : 4 ‹ K? #A H2E Œ E - ! @ 9 `# !+
A4 : + *B ;4 R- Q - H - HP2; H•jf? H >? @ W `# !+
+) + + /+ =0
) # Y: -4 D I- (= / 54
) P+ # - ( A - 4 H!$ dE I - R# ! ; m# z # -
) #Y ?: - .# *+ ,- + i j? U 4 4 n KL A4 H : 4 4 H >? H•jf? H >?

&
* = H•jf? H >? =∆ =$ =0
$
@m g a* n #4
) •" r L m g g a* n A4 U41+ ? I- ≥ ), 54
) "[- m# P+ ˜ / ˜ H*+ ? R# H- 4 #A ˜ 6 ˜ H*+ ? @ _?
/0
=
+6 + +
/ = −/ ± ( $ = −6
/0
- `5 0 = = /0 =/ `5
6 /0
@ `#4 4 - I - H I4 " ( H- :* " #A [ " 3 H*+ ? ` 5 # -
/0 /0 /0
= = ≅
+6 + + 6 +/ + + 6 + +
1442443
6 F
# -U - :- l B r7;
F
= → 0 =/
+ +
@3 H*+ ? H- m n U HQ z4 l4
= /
)/ + 

U1T
( + ηω +ω
 $ 
=
)/ + 
H2E Œ E
( + ηω +ω 
 $ 
 
=  / − + θ  +
! −ηω
ω
 
!− $
θ
/
) 1I ? < *B . A4 / !− $
#4 ? .? B dE / p0 :- l U41+ ?
H H- A4 m n %#4[Q4
@3 H*+ ? H- KL U HQ z4 l4
/+ : 4 } f? :?DB < 1L
= - + -
+ ηω +ω + ηω +ω
/
H2E Œ E = 3 H*+ ? H2E Œ E + S3 H*+ ? H- z Œ EO
-
S ;4 H2E O # Y: -4 #A <1I 4 L @ ˜ ‡ ˜ `# !+
+/
=
+ +
=/
F# ! $4 @
M
=K
•
=0 K =K
&!C = =K
−
=/ D = /00 &!C
@ 5 "?: ; x1"
): 4 S ]12 ? O, ? ` - rD 4 @
@ ;4 R- Q S t 4 : ;
-
= − &4 H•X & ! =, −

5 "?: ;& !@ = = & →∞ ! = & →0
;4 g R- Q S ] : ;
/
-
'
4 t# >+ / = −
&4 H•X & @ !/ =, −
5 "?& @ !/ = / = & →∞ !/ = & →0 /
3 t# >+ @ = −
! =, −
! = = & →∞ ! = & →0
@ ? K 4 #A J#4 I H- V f? 4 3 t# >+
) I-d R# A4 % $ S(
SB ># O ) I - C P? R# A4 % $ S/
@ 5 "? H* X?
@ ;4 R- Q ‘ t 4
= −
⇒ =
/+
=
= & →0
/+
@ ;4 g R- Q S ]
4 t# >+
=
/+ U1 ? 1? Q A4
/
= & →0
/+
= − @ 3 t# >+
 
⇒ = / − / +  ⇒
 
=
/+
/ + − 
⇒ =   ⇒
 /+ 
 / 
/+ − + 
⇒ =  
 /+ − 
 
⇒ =
/+
/+ [ − /]
= & →0
/+
/+ [ − /]
@ 5 "? c 2 : ;
=
/+ ′
=
/+ ′
& → 0
@ \1Q H -4 H @ ,& # x1" t# >+



′ = 
4 t# >+


;4 g R- Q
 / + [ − /] 3 t# >+
S t# >+ H- H 1+ - O ‹ Q
+ −/
+K+ +
′ = −/ / 0
#
+ −/
−/
+K+ / + 0
@ ?" ? x1" 4 2 < 1L `#4 1- 0 ≠0 0 ≠0H
) : 4 KL x1" c I- 2 54 u
) : 4 R# x1" c I- 2 54 u
): 4 x1" c I- 2 54 u
: 4 ′ ™ *? a* n 4 >+ 2 1v ` !$ ) : 4 ′ $ 5 4 8 "4 4 >+ 2
H*+ ? @ #+
F* " H*+ ? @ [ #+ − ]
@ 5 "?: ; H* X?
(O ;4 H2E
=
/
= & →0 = & →0 ⇒ =
/ /
/+ ′ /+ ′ / + & →0 ′
t# >+ - @ S FN + 4 O H2E & :- l = & →0 ′
⇒ =
/
/+
S KL x1" O # 4 2 ‹ Q - S .š
= 0
/
=
/+ 0 ) 1I !" KL 1I ? 5 "? ( %#4[Q4 -
0
- ′
I- # ≥/ 54S /
/
= & →0
′ =∞ = =0
/+
- ′
^
;4 m I u/
=
/
= /
= = &
/+ ′ /+ ′
→0
= ⇒ =
/ /
& →0 + & →0
′ & →0
′
0
@ t# >+ -
mI& :- l
, = ) = & →0
′
/ I-2 54S .
=
,
:B & :- l ) = 0 ⇒ = ∞
I-2 54S /
= ⇒ =
0 /
,
0 0
) 1I ? c ( %#4[Q4 - >#
, =∞ ⇒ =0 I-2 : 54
) I- ? A " 5 4 8 "4 1
;4 ] I )
- ′
=
/
$
=
/+ ′
/ /
= & = & =
$ /
/+ ′ /+ ′ ′
→0 →0
& →0
= & →0
′
@ t# >+ -
=
/
S&1!a O ] I & :- l
I-2 #2 54
/
=0 ⇒ = =∞
I-2 54
/
, = 0
⇒ = ) -# ? %$ 5 "? ( %#4[Q4 -
0 0
0
=∞ ⇒ @ I - # ≥ $ 54
/
= =0
@ 5 "?
))))) / )
/ $ ;4 ] I / ;4 m I / ;4 H2E &
x1"
∞ ∞ ∞ /
KL
/+
∞ /
R#
∞ 0
,
∞ /
0 0
/ H
0 0 0
0 aT
0 0 0
;4 g R- Q
= & →0
′ = & →0
′ = & →0
′

,

KLED MNKOP

= & $
′ ′ =

→0 CDE FGHIJ

/ + [ − /] QD FGHIJ
H" 5 5 ? H* X? 4 # E a! 1? 5 "?: ; @ ( H N"
) : 4 :# a" - 5 "? 41!$ 4 # E "

- ′
&
@ H - HP2; 4 - 5 "? H* X? @ / H N"
@ : 4 #A >? \1Q
- ′
@ : 4 ‹ K? #A @ _?
h: 4 PT 5 " ? B ‹ Q -St4
/
= − ) H* X? 4 5 "? = ‹ Q -S]
+
=
/
= − h: 4 PT 5 " ? ‹ Q - @ i ˆ `# !+
+
;4 m I - /
+
'
#
=/ ′ = =
t 4O U1T /
+
= & ′ =
/
, →0
⇒ = =
/
/
′ = =
] .; /
+
= & ′ = ⇒ = =)
/ /
, →0
) /
)
[ − /]
i F# ! $4 @ ′ =
/+
@ #A @ Š `# !+
h: 4 PT :B R- Q 3 B ‹ Q -
) I - “ / A4 ! %a 4 Q _ 4 ; H ` >+ 1v 4 )
5 H # P? t 4 : ; - ) : 4 PT 5 " ? < 1L `#4
- - )
+0 )
:B R- Q
(-*
) $ ‚ jf+ 4 #A x1" S – `# !+
+
$
+$ + +
;4 m I
@ 4 #E
X? $ Z4A4 H- H : 4 / /1 4 # E ! @ X? ‘ X? # / /1 4 #Eu
) $ - X? R#
@ H : 4 UY / /1 4 #E 4 - Q 3A= V I c @ H- z Œ E - 7 R# @ H wn
∞ 2B $ 1?
∫
−∞
. p∞
): 4 / /1 4 # E
F2 .# *+ ,- +
. =0 p0
∞
∫
0
. p∞ ⇔
@ 7 R#
+ +K+ / + 0
−/
= −/
+ −/
+K+ / −+δ 0
!− = −/ −
! = !
+ +K+ / +
+ =δ
K ++(ω [− ] = −δ
−/
⇒ = −/ 0
+ / → ! p0
) $ & a* n $+
± (ω
! =/
) I- K? a* n H!$ P P; :! n # - dE
@ 4 #E" # 4 # E . 2X+ o
) I - :?DB $ H•jf? H >? m„4 s ? !+ H : 4 UY 4 #E 4 - 3A= V I @ H wn
) #4 ?: - 2 .# *+ ,- + i j? U 4 4 n KL A4 H 4 H >? A4 : + *B H•jf? H >?
+ +K+
−/
+ @ 4V I
= −/ / 0
+ −/
−/
+K+ / + 0
∆= + −/
−/
+K+ / + 0 =0
H•jf? H >?
I - H?D> 4 X ? m„4 z ⇒ : 4 4 #E
I - H?D> 4 t2 j? m„4 z
⇒ : 4 4 #E"
@3 V I
) I - :?DB $ › $ H#4 Y 4 U1 L B H UY R# 4 #E 4 - Q V I@ 3"# > › H wn
∆ = + −/
−/
+ −
−
+K+ / + 0 =0
"4 I H I1" m„4 z F? !+

−/ − − − $
/ =
−/
−
< *l4 t# >+ }*v H @ / = −/ − ) − 6
−/
−/ − = − − <
/ =
−/
M
/ − $ − −/ $
/ =
/
/ − 6 − −/ $
=
/
) # 4 4 #E"m nc 4 U1 :?DB €+ $ Z4A4 H- @ ( H N"
) P+ m_? B R# - # ] z :*_? B R# U41+ ?4 › A4 $ @ / H N"
0
) 1- $41j" 0 c Y m# z 8# c 1I ] z B 0 .? I 54 @ 6 H N"
) 5 4 # E H - HP2; H ` >+ 1v 4 α #A @ _?
- +α /
+) +
) 4 4 #A : 4 / H x1"
^
H - HP2; .# *+ ,- + @
+α
= =
/
/+ +) + +/ +α
*
∆ = )
+= $
+> +/ +/ α = 0
α f0 @ 3A= V I
) 4 . Nf+ #- Q V I 4 -@ Q V I
)
/ > /α
$
= / 0
)> −/
== / −α / −/ α f 0 ⇒ / α f /
=
/
/ −/ α 0 / α f0⇒ 0 p α p/
0
/α
A4 : + *B ! H•jf? H >? @ _?
τ + τ+
τ f0 
$
+ + =0
τ
τ f 0
 ) ` >+ HXKL 4 4 #EH;"

τ + f 0

⇒  ⇒ @ 3A= V I ‘ .;
  f0
  4 ,-
f 0 
VPRS THU
τ 

$
;
τ f0
τ+  τ+ f0
τ + −τ  ⇒
0 τ + −τ f 0
τ+
/


0
f0
τ −/ p ⇒ τ − / = HIJK LM HNO PO ⇒ ! =
@M $: ;
) 4 KL g • B R# .n4 ; H : 4 c KL g ) I - KL c KL g R# 4 •BS(M : ;p
‹ Q - $ ? H?4 4 4 $ ? 4 n f0c 4 U1 c KL • B H- S ( .; 4
) ? :?DB ` >+ 4 4 U1 →0
€+ - O ) ? m+ ? [" $ U41+ - 4 . Nf+ 4 ∆ / ∆ H- S / .; 4
S) !" €+ :?DB ∆ / ∆
) $ ? . Nf+ 4 ∆ = +/ ∆ c∆ H- S 6 .; 4
)
+ $
+$ +==0 @
) : 4 4 n - 3A= V I
_?
) : " FQ V I ?4
$ε − = − = )
ε ε
≈ p0 / $ =
$
/ $ 0
) # 4 :?DB €+ -
0ε f 0 =
/ $ε − =
p0
ε
0
=
:?DB €+ 4 #E"m n
9u/†/ 4 # E m n
) .; 6 / $o A4 4 \1Q _? S (… `# !+
WWWWWWWWWWWW
S KL k#4 O "1I KL 8!$ R# L B @ / M : ;
L B H- 4 .L ; m„4 z 5 } f? m ; - UY A4 4 . Nf+ 4 KL =- N!Na >? @ .; 4
) $ ? 4 n KL
): 4H# n $ m n :K 4 4 : ; `#4 `#4 @ H N"
): 4 " 1" c I - H I4 1!B 1X? m n JPQ 54
) 4 #E" #: 4 " 1" : ; `#4 @ / H N"
S $ m n A4 w>- U Y: - 4 - O ) : 4 #7E %j- N! H >? - H•jf? H >? @ 6 H N"
) KL U ? 1 4 › R# # - 1I " 1" ! $41j- 54 @ 9 H N"
): 4 ′ c `#4 =1!>? H
) $ @ _?
∆ = + + // + A + /> = 0
XYZS [\ RI] )
/ // />
+A =0 $
/ A 0
↓
$; /> Q
=0
/
0 0
0
A
): 4 " 1"
): 4 " 1" dE I :?DB $ c œ .Nf? .; A4 >- U1 `#4
)
+ $
+ // + A + /> +#
)
+0+# +0+0 + +
$
+ + # + />
$
+0+A +0
+ />
+ />
0
∆ = +# + +
= ±$ ( =−/ ± (
$
/ $ )
) I - R# A4 f - UY „4 ? 1- 4 # E H ` >+ 1v #A 4 ( X? @ _?
-
+$
/
+)
@ A4 ∆ . Nf+
∆ = /+ = /+
+$ +)
$
+< +/ + =0
3A= V I @ f0
FQ V I@ / × < f ×/ @ 4 #E
4 #E@ 0 p p >)
/* = ! −/
∆ =∆ −/
@ R# A4 f - #4 ?
∆ =∆ −/ = −/
$
+< −/ +/ −/ + =0
−$ +$ +< − +/ +/ −/ + =0
$
−/
−$ +$ + −==0
$
$
/ /
) −=
)− −=
3A= V I @ f0
FQ V I@ ) ×/ f − = /
dE @
= p p /0 )
0
−=
@ H : 4 UY 4 #E 4 - Q V I 6 H*+ ? R# :- l @ (( `# !+
/ f $ 0 ∆ = $
$
+ + / + 0 =0
$
$ /
/ / − $ 0
0
0
) I - H " l 9 A4 ! “ / : f" U ?A H ` >+ 1v 4 ( .*n _? @ (/ `# !+
F# ! $4 )
D =
(ω 1X? H- m n `# N# [" H2L Q @ .;
.*n _? " !$ ]41

D p) ⇒ m n `v N# [" H2L Q f/
= p p /0
@ N2!B - R- Q <4 l4
@ - 41?
:B - R- Q l4 )(
- ` 5 - R- Q l4 )/
- 4 o f g4 - R- Q l4 )6
: ; - R- Q l4 )9
@ - ` 5 :B - R- Q l4 S / (
) 1I ? - ` 5 :B €+ •B - R- Q
@ _?
- `5@)
/+'
" ?A :- l @ 7
) ? 5 " ? 4 P? H- 6τ A4 >- ( $ Z4A4 H-
@ H - HP2;
- f0 [^_J
/+'
= = /+ = *
/+ + ' /+ '
*
'
/+ *
/+
'
= '* = p'
/+ /+
*
) 1I ? R# [" KL H- '* ?4 1I ? R# [" R# H- * c ) %#4[Q4 - c * H -4

) 5 ? f - ` Q = - :B c 5 5 [- ) n $
:B : 4\ L $ H!$ 4 - m2 ? `#4 1I ? R# [" R# H- 5 " ? : ; c ) %#4[Q4 -
)S: 4: $ A4 w>- m2 ? `#4 O 1I ? f-
@ - 4 < I f g4 - R- Q l4 S
) 5 ? ]1 X? o f g4 c H 41 " $
-
/
-
- o f g4 3 %j- A4
= + $
) 5 ? . Nf+
= /
$ =$
= /
$
=$
 
- `5 #-   [#1" H-
&
- # %#4[Q4 / 8 :* " < n %#4[Q4 4 -
@ :# X?
/ x *I4 u(
X? u/
@H - HP2; : ;
-
/
-
′ = ′ + ′
$
′ = /
/+ /
′ = $
/+
$
/
′
=
′
$
/
=$
c- ` 5 %#4[Q4 -
 
? %#4[Q4  :* "
&
) -# /
) 4 +A - X? c A - HP2; : ; A4 X? `#4 =1!>? ) : 4 4 # E " @ :# X?

@ : ; - R- Q l4 S`
β <4 €+ L H- α <4 €+ L :* " A4 : + *B β H- :* " α : ;@: ;
α
/00
α α
β =
β
/00
β
@: ; M41
α α /
β ∂α β =
α α
= α =
β α
β × = × β
β β α ∂β α α
β α =0
α =0
α
β = β =0
α = =0
α α
α α ∂
β = ∂ β
α α ∂/ ∂ ∂
β = ∂/ , K ∂
−/
β
) fE ? ` 5 H- :* " H - HP2; : ; A4 : + *B @ : ;
- 8
(-*
^^
=
/+
*
∂
= *
•
∂
*
/ /+ −
•
[/ + ]
/+
=
/+
*
) 1I ? : ; B - ` 5 %#4[Q4 -
) # Y: -B H- :* " 4 \1Q H - HP2; : ;‘ _?
∂
= *
•
∂
*
−
= •
[/ + ] /+
−
⇒ =
/+
*
.NGf? .G; 4 G- :G 4 ]12 ? " ,z R# H

*
→ −/ @ # 4 B - ` 5 %#4[Q4 -
) ? ;4 v “ ( :? P? "? €+ # :- l $ U ! 4 A4 4 B c \1Q
^
*
= *
• ≈0
*
*+ '" $ ,-
*
→0
) # Y: - q+ U ?A H- :* " 4 #A : ;@ _?
- ! −' - /
/+
= • =
/ !−'
:
/+
* * /
' ' '
! −'
= × =
/
! −'
/+ +
/
− '
:= = =K
/ ! −'
/+ /+
'
∂ ! −'
= • −' = − ! −' • −' = − '
! −' ' '
∂'
'
! !
* '
) 1- $41 KL dE I - :- l 54 dE c : 4 U ?A A1; } f? :?DB < 1L 1 1?
* '
^
@ 3 aT .•Q
' $ Hf# $ U N?
@ $ Hf# $ U N?
KL A4 # O :# a" - + KL A4 €? n : 4 H - HP2; a* n $ U N?
) # !" ? €+ S − ∞ +
4 #E" # 4 #E $m n
475 Œ E -@ 4 #E: ;
475 Œ E -@ 4 #E: ; $ KL
- ( 8
=
/+
*
∆ =/ + =0 ⇒ =
) ? €+ HXKL $ m n .X? ) €+ l4
^
) 4 #A S $ Hf# O a* n $ U N? @ _?
- /
( + f0
∞ f f 0 St4
−∞ p p 0 S]
A - HP2;
A - HP2; m n =− =
+
/*
=− − =
+ +
*
f0
H - HP2; m n
0+ −
/ − −/ 0+ −
−/ − −/ / − +/
− −
−/ − +/
− +
1I F? H m n : ; :a ) 5 F? ># c + 4 m n n $
^
) 5 ? 4 #E" ≤− 4 - 4 #E f− + ) %$ - ) 1I ? ># ) %#4[Q4 -
0p p∞ ) 4 #A a* n $ U N? @ _?
+/
/
+$
∆ = /+ =0 ⇒ + ) +$+ =0
+/ +$
/ = − ± /−
@ $ BW +… X? #- ;
/ → 0+ − + / = −/ − − / = −$
→ / − + $ − − $
)
$ → / − + − −
) → / − +0 − −0 → →
− +( − −( → →
$ − +( − −(
) − +( $ − −( $
6 − +( ) − −( )
) # 4 " 4 # E " ) %#4[Q4 - c `#4
^
@ ž# "
): 4 # I #4 ? 0 p p / Z4A4 H- u(
S <1I 4 U - Œ E `# ># O: 4 "4 X- #4 ? ( Z4A4 H- u/
) : 4 t >z #4 ? f / Z4A4 H- u6
) : 4ξ =" θ π
: 4θ = U1T ) : 4 ξ = 4 4 ( 4A4 H- u9
)
) 1I ? NT1 ξ 5 ? f - <1I 4 L S( 4 P? A4 O ( %#4[Q4 - uW
H 1+ @ ↑ ⇒ ξ↓
/
@ K? $( 4 - ;
→ 0− − + / = −/ − − / = −$
→ −/ − + − −
→ − − + $ − − $
→ −$ − + ) − − )
M
^
# I #4 ? : 4 4 # E −$ p p 0 4A4 H-
): 4 4 #E" ≤ −$ Z4A4 H-
@ 2 : ;
-
) 1I R- Q + H Q 5 1 Q K ? A4 1- I - K ? ! ; # - R- Q u @ H 1+
∆ = /+ =0 → ) #Y F? : - m n H >? `#4 .; A4
m# z )u
J2 j? 4 P? −/
⇒ = FP P; B
) I - (Š… # … $ UY H# 4A -4 - H ?4 H : 4 -4 - " ?A J2 j? B - P P; B

 =
/

.L ; <= >? @   +/ π
∠ =
f0
  π
 p0
^
@‹ Q -
3 Q + -/ +- K +-
=
4 " 4 + / + K +
Hf# U N?
+ -/ +- K +- /
= =
+ / + K +
∠ = ∠ + -/ + ∠ + - +K+ ∠ + - +
 +/ π
−∠ + −∠ + +K− ∠ + =
f0
 π
/
p0
H ?4 #A Q V I
): 4 m n UY c \ LV I $ H 5 ] j "4 + 1L H- 54
Sh #: 4 m n "4 - $41 ?H : 4 4 H P" O
A4 "4 V I 4 .L ; $ 4 - H- 4 # $ 4 - $ KL a* n H!$ A4 54
U N? Z[ c 1- \ L V I $ 54 c „ !" - 4 \1Q V I 4 4 n H# 4A
): 4 a* n $
^
@ $ Hf# $ U N? B41n
$ m n 4 >+ - : 4 -4 - $ Hf# $ U N? $ H I 4 >+ )(
$ H I 4 >+ =
∆ = /+ =0
⇒ + / + K + + + %/ K + % = 0
) # 4 Hf# dE 5 ? k#4 H*+ ? H
:! H- → ±∞ Z4A4 H- x I a* n A4 = 0+ Z4A4 H- $ H I )/
) " ? :# a" - H- $ KL
−/ −/
= ⇒
+ %/ +% K +%
+ / + K +
− + / + K +
=
+ %/ +% K +%
† $H I.
=0 ⇒ =− ( KL H- X? & $ H I
! X? " & $ H I
= −% (
) $ F? 4 ]41 3 !+

= ±∞ ⇒ 
) $ F? 4 ]41
 →∞ ) $ F? 4 ]41 !
) $ $ H I ,Q4 a* n # $ H I ]Ÿ $ KL @ =1!>?
^
@ X? " $ H I m" k? )6
P P; 1X? - 1 - .X? H# 4A @ m" k? < BDv4
1X? - 1 - .X?
δo =
a* n x1!k? ‘ $ KL x1!k?
=
∑− − ∑− %
− −
(
FP P;
 +/ π
∂ o = −
1X? - m" k? H# 4A f0

FP P;
∂ = π
 o −
p0
) I - F? " F? :# a" F- :! H- H F# $ H I 4 Q H# 4A ∂o
@ D_? ) ? 475 B - ! 4 )
=0 ⇒ − −/
U GN? Z[G c GI - mG n # KL Q 4 >+ V P" UY : 4 :! H P P; 1X? A4 v P" )9
): 4 f0 Z4A4 H- $ Hf# $
U GN? Z[G c GI - mG n G# KGL A 4 >+ V P" UY : 4 :! H P P; 1X? A4 v P"
): 4 p0 Z4A4 H- $ Hf# $
): 4H I Lm n
^
@ B1" ? 1 - $ - $ H I a"Y H $ v P" @ : NI V P" )W
œœ " F? " 1 F? a- $ H I @ : NI @ : NI H P" )(
@ : NI - H P" )/
) : 4 A0 o -4 - R# i 1 - ` - & H# 4A
@S P P; 1X? A4 i O : NI H P" )6
) #Y ?: - = 0 H >? .; A4 \1Q V P"

−/
=
 −/   
   
/
⇒ =   =0 ⇒   =0
S p0 f 0 Z4A4 H- O NI - : NI V P" c I- P P; 54 c \1Q H >? $ ]41
−/
V GP" c 1GI P P; = H v I H- I *" P P; \1Q H >? A4 # $ ]41 54
) $S P P; 1X? A4 i O : NI
) #Y ?: - A Q V I A4 H J2 j? m n A4 i H# 4A )‡
θ = + / π − ∑θ ( + ∑ θ% f0
θ = π − ∑θ ( + ∑ θ% f0
@ H* X? o
∑θ ( = θ / +θ +θ $
∑ θ% = θ % / +θ % + θ% $
5 ? H* X? 4 N+ 4 >+ H- $ UY H- V1- ? θ c I- N? $ KL # a* n A4 34 $ 54 @ H N"
@ # 4 S - , 4 >+ H- D_? O 1- N? J2 j? m n 1 54
θ = + / π − ∑θ ( + ∑ θ% f0
θ = π − ∑θ ( + ∑ θ% p0
) 475 B ,! + KL A4 4 (c 4 H -4
o
K 4 />0 A4 U # 4 π H- 4 J-4 #- I-H m ; - < * X? $41j- 54
@ J2 j? KL H- H# 4A )ˆ
θ- = +/ π − ∑θ - + ∑θ ( f0
θ- = π − ∑θ - + ∑θ ( p0
S : 4 4 N+ 4 >+ a O I - N? a 54
%θ - = +/ π − ∑θ- + ∑θ ( f0
%θ - = π − ∑θ- + ∑θ ( p0
=0 → - −/
@ (ω 1X? - $ H I ,v P+ .X? )Š
∆ = /+
/
U 4 4 n KL 4 -› $ H#4 Y . Nf+ -
- ,v P+ .X? $ ]41 c KL =- N! H >? .; A4 S Y H- "? R# O
) #Y ?: - ?1$1? 1X?
/ → / + =0 ⇒ =±
/
/
=0 ⇒
0
@ U N? A4 L H P" 4 - ( 4 P? ` >+ )–
@ #Y F? : - A4 "4 V I A4
+ + K +
=
/
+ -/ +- L +-
•" 1? H P" H- a* n A4 I & $ 4 - 1v ] w2L ;

#
=
•" 1? H P" H- $ KLA4 I & $ 4 - 1v ] w2L ;
m# z R# < 1L H- •
54 ?4 ) : 4 \ L / + H -4 }*v \1Q 41? 3 !+
) 5 ? K 4 #A B n A4 I *" 4 -
@ I *" m# z ( n $ Hf# U N? )(…
∆ = 0 . Nf+ )(
) ? .# *+ " + =0 < 1L H- H•jf? H >? )/
/+ =0 )6
"
): 4 # A - HP2; .# *+ ,- + H = )9
"
@ _?
0p p∞ = / Z4A4 H- #A $ Hf# # a* n $ U N? : 4 ]12 ?
- +
+/ +
+
∆ ∆ = /+ =0 ⇒ + + + + + =0
+/ +
=/ ⇒ + + + +/ = 0
+/
⇒ /+ =0
+ +
+/
=
+ +
= −/ / = −/ (
@ .;4 ?
/ † $ H I 4 >+ )(
(† X? " $ H I 4 >+ c ( † X? $ H I 4 >+ )/
P P; 1X? V P" )6
): 4 ?Y : - 1 H- 1 c : 4 P P; 1X? ? U1T H $ m" k? )9
@ : NI V P" )W
=0 ⇒ =0
 + + 
 
 + / 
⇒ =0 ⇒ + +/ − + + =0
 =0
⇒ + =0 ⇒ 
p0
 =− ← f0
S : 4 − ∞ + u( A4 U N? O ) : 4 1*n .- n dE : 4 $ U N? ! U1T
@ J2 j? m n A4 i H# 4A )‡
θ = + / π − ∑θ ( − ∑ θ-
( )= π
(
=0
θ = π −π +π ,
θ = />0 o − A0 o + A0 o = />0 o
) # 4 " UY - H- A " Sˆ
@ ?1$1? 1X? - , n V P" SŠ
∆ =0 ⇒ + + + +/ = 0
+ + + + =0
+ =0 ⇒ XbRc_b d\RL ⇒ =−
) # Y: -: 4 "4 X- 4 ? H 4 4 H P" + 4 P? $41 ?
$ KL
= = =
•" 1? H P" H- a* n A4 31 ? & $ 4 - 1v /
@: 4 "4 X- 4 ? + A4 4 P? HT Z4A4 H-
0p p t >z 4 ?
= "4 X- 4 ?
# I 4 ?
f
) 4 N+ 4 \1Q _? −∞ p p 0 Z4A4 H- @ `# !+
) f 0 Z4A4 H- #A H - HP2; $ Hf# $ U N? : 4 ]12 ? @ _?
-
+) +) + 0
/
=
+) +) + 0
S X? " H I O ) 4 ∞ :! H- H I aT dE ) 4 " KL 4 H I 9 dE 4 m n 9 U1T
 
 
/
  =0 +) +) + 0
=0 ⇒ ⇒ =0
& $ H P"
: NI
+> + $= + >0
⇒ =0 ⇒
)
$
⇒ ) + ) +< + >0 = 0
1v H- O Hf# U41 >- U41+ ?4 ! UY J 4 P? dE # 4 u9 … ` - m n U1T
) :Q 5 •" S ;
=− )− $
+ )− +< − + >0 = 0
) : 4 Hf# ]41 ! > n dE : 4 4 n - \1Q + U1T
) $
+ ) +< + >0 +
) $
+> ) + /= + )0
/= +<
/= +$
)0 + >0
)0 + >0
0 0
:! n i ) + /= + )0 = 0 ⇒ ) + /0 = 0 ⇒ − ± ( = Hf#
−/
= =− [ +) + ) + 0 = −/0 ×/0
] ⇒ = /00
 + ) = −/0

 + ) = /0 = 0 ⇒ + ) = −/0
@ J2 j? m n A4 i H# 4A
θ = + / />0 o − ∑ θ ( + ∑ θ-
θ / = A0 o
)
θ = '. −/
)
θ $ = '. −/
θ = />0 o − A0 o + />0 o + '. −/ − '. −/ + 0 = A0 o

@ a*" k?
−>
δo = a* n x1!k? ‘ $ KL x1!k? = = −
− )
)6 =0
+ / />0 o
∂o = = − )6 = −/
−
/$6 =/
− /$6 = −
@ (ω 1X? - , n V P"
∆ =0 ⇒ )
+> $
+ $= + >0 + =0
)
/ $=
$ / /0
> >0
= ⇒ = + =0= 0 ⇒ +/0 = 0 ⇒ = ± ( /0
=0−
/

=0
→ = =0
=
0
) f0 Z4A4 H- 4 #A $ Hf# U N? @ / `# !+
St4
- 0
+/ +)
S]
#,
+/
=
Si −/ + ) + /=
= =/
−/ +) +>
^
' $ " QŒ E
@ 5, n ,! A4 B 54
&
" ω "ω " ω +θ ω
) " 4 < K+ $ - A Q H ?4 :a A4 ?4 "4 d" Q $

" ω = (ω (ω
θ ω = ∠ (ω (ω
) ? 4 θω "ω $ ? €+ :# a" - + KL A4 4 ω d" Q
S # IO
@θ ω "ω $o
1- 34 5 # )(
S : "1N# " O * n 4 1!" )/
"1N " 41!" )6

/"5& 5'+@$+ 1- 34 5 #
= 0 /0
= /0 0
) 4 3"S 4 O 1% +=& d" Q UY -4 - + d" Q $ H2L Q H-
@ d" Q m ; - A Q 4 1!"
@ 2 : ;
ξ
/+τ/ /+τ K /+ +
ω ω
=
ξ′
±#
/ + τ /′ /+τ ′ K /+ +
ω′ ω′
@ H N"
0≤ξ ξ′ ≤/ ) $ R# :- l 4 B4 H!$ c 1- 34 5 # 2 3 Q
±#
@ Z4[ 4
±/
/+τ
ξ
/+ +
ω ω
@ ‹ Q
ξ
#
/+τ K /+ +
ω ω
=
ξ′
/+τ′ K /+ +
′ ′
#′
ω ω
= 1- 4 1!"
(ω = ⇒ (ω =
p 0

p/
.- F m ; - (ω = 0 = = 0 =/

f 0 f/
0
∠ (ω = 
f0
− π p0
$ ? U f" 4 H- :* " q+ c π 4 - K ? :?DB
): 4 0 A4 "4 H- 1- H ?4 4 1!" . :K I c H ?4 4 1!" ( l4
A4 "4 H- 4 1!" :K I •B - c I - p 0 54 ?4 ) : 4 lq+ - A Q 4 1!" c I- f 0 54 @ Hk "
) 5 ? −π
= 1- 4 1!"
(ω = (ω ⇒ (ω = ω
(ω = 0 ω
∠ (ω = π
=/ (ω = ⇒ (ω =
/ /
(ω ω
(ω = 0 /− 0 ω=− 0 ω
−π
∠ (ω =
) $ .*n : ; H # n : ; `#4 & $ 4 1!"

= / 1- 4 1!" = 1- 4 1!"
(ω = −)0 ω (ω = ( ω
∠ (ω = −π (ω = )0 ω
∠ (ω = π
z1+ @
= : ; &4 - (ω = ( ω = (ω ( ω ⇒ ∠ (ω = π +π = π = />0 o
= (ω = =
/ / /
(ω ( ω (ω
: ; &4 -
(ω = 0 ω − = −)0 ω
@ # 4 2 : ; 4 - .*n J-4 !>+ -
= =
/ E _Zb # 4 1!"
#
(ω = − 0# ω (ω = (ω #
(ω = 0# ω
∠ (ω = # −π ∠ (ω = # π
= /+τ
/
= −/ ⇒ −/ = /+ τ × −/ = /−/ = 0 ⇒ ω- =
τ τ τ τ
` #4 - - = /+
ω-
= /+τ ⇒ ( ω = / + ( τω
(ω = /+τ ω
(ω = 0 /+τ ω
τω
∠ ( ω = '. −/
= '. −/
τω
/
= ω-
/
ωτ pp / 8# < *B H- # ω pp @ 4: ;
τ
) : 4 KL A Q A4 "4 c ` # E & $ d" Q A4
(ω ≈ 0 /≈0 ∠ (ω = 0
) : 4 KL A Q A4 "4 c ` # E $ d" Q >#

/
ωτ = / ω = @3 : ;
τ
(ω = 0 =$
∠ ( ω = '. −// = π = )6 o
)
/ @ 31 : ;
ωτ ff / ω ff = ω-
τ
(ω = 0 τω = 0 τ + 0 ω → = + 0ω
∠ (ω ≈ π ≈ A0 o
=
/
/+τ
1- 4 1!"
−/
m n =
τ
ω =
/
m n d" Q
τ
= =
/ /
/+τ  
/ + 
 ω 
 
(ω =− 0 /+τ ω
∠ (ω = −'. −/τω
^
(0 ≤ ξ ≤ /) = /+
ξ
+
1- 4 1!" u9
ω ω
(ω = / + +
ξ (ω (ω
ω ω
(ω = / − + (
ω ξ
ω ω
(ω = /− +
ω ξ
ω ω
= 0 /− +
ω ξ
(ω
ω ω
 
 ξ ω 
 
∠ (ω = '. −/ 
ω

/− ω 
 
 ω 
ω @ 4: ;
pp / ω pp ω
ω
(ω ≈ 0 /≈0
∠ (ω ≈ 0
ω
=/ ω =ω @3 : ;
ω
= ξ =/

$ ξ =


(ω = 0 ξ = 0 ξ = /

 − /) ξ = /
 /0
 − ∞ ξ =0
∠ ( ω = '. −/∞ = π
ω
@ 31 : ;
ω ff ω
ω
ff / Ke
ω ω
(ω = 0 = )0 = )0 ω − )0 ω
647 4
8
ω ω
 
 
−/  ξ  = '.  ξ 
∠ (ω = π  =π
 ω   ∞ 
−/
'.
 ω ff / 
 
5 F? K 4 0 ) p ξ p / m" k? 4 1!"
) I - ξ = / m" k? : 4 a-
S) 1I H Q 5 •" ξ = /O
/
=
) 4 ξ 1- 4 1!" @ `# !+
/+ +
ω ω
h 4 E4 1I ? _ 4 ; # .n4 ; UY H " Q @ `# !+
ω, = ω /−ξ 0≤ξ ≤
h: 4 PT H ?4 .n4 ; 4 P? @ `# !+
, = ξ /− ξ = θ
/
=
ξ /− ξ
) 4 #A 1- 4 1!" @ _?
- /0 + + /0
+6 + +/
/0 + + /0
= =
+6 + +/
/0 × × /0 / + /+
/0 )0 / + 0 6 / + 0 /
= =
/+ 0 /+ +
6 /+ /+ +
6
< 1L A4 @ $ KL =− ⇒ ω -/ =
= −/0 ⇒ ω - = /0
 =0 ⇒ ω / =0

 = −6 ⇒ ω = 6

$m n
ξ = /

ω = /
S : #1N# " O * n 4 1!"
8
-
#
) #Y ?: - - H -4 A4 4 # E /+ =0
" ω "ω " " ω +θ ω

8 #
"ω = (ω (ω
θ ω =∠ (ω (ω
@ # 8- •" c I- ? A - HP2; $ KL a* n .? I H 4 HXKL
#4 " `#4 :a ) "A ? → ∞ x >I H- #4 " R# ? ] j "4 4 1X? : 4 :!
) : 4 d" Q %#4[Q4 :a
@ 4 #A 5 !" K ? :! n ?4
(ω (ω = − (ω − (ω
∠ (ω ( ω = −∠ − (ω − (ω
) "4 H # n ˜ PQ4 1X? H- :* " ˜ ω p 0 ω f 0 Z4A4 H- 4 1!"
v4 H;" :*_? :! n
) ? $π H- :# a" : 4
) I + 4 1!" [ - 4 1!" # "41+ @ : „1N# "
@ : „1N# " 4 1!" )(
4 1!" - $ m n l4 S t 4
$ KL l4 S ]
x1" l4 S i
) : „1N# " 4 #E"o )/

=
/ + τω
4 - : #1N# " 4 1!"
@ .;4 ?
→ (ω 5 .# *+ (ω H- St4
(ω (ω =
/ + (ω
H# 4A A4 "4 H* X? S ]
(ω (ω =
/+τ ω
∠ (ω ( ω = − '. − /τω
@ #Y : - t 4 :! n H -4 A4 # - HN2- #Y : - H# 4A A4 "4 A4 # *" H ?1$1? P P; 4 P? H* X? S i
/ − (τω
(ω (ω =
/+τ ω
− τω
= +(
/+τ ω /+τ ω
d" G Q G54 ) 1G- $41G 3 GaT ,G- c :G 4 GK ? ?1G$1? :!G n :*_? P P; :! n U1T ω f 0 Z4A4 H-
) "4 :*_? ?1$1? 1 P P; < *B $ < 1•"Y 4 #A ) 1- $41 4 ,- I -ω p0
ω f 0 Z4A4 H- 4 1!" ω = ∞ H- ω = 0 + A4 d" Q %#4[Q4 S
PQ4 1X? H- :* " 4 1!" U H# nS
:G# a" G- 4 1G!" mG" k? ` Ž!$ ?1$1? P P; $ 1X? - ,v P+ V P" .X? A4 : #1N# " 4 1!" @ H 1+
) 5 ? K 4
[ (ω (ω ] = 0 ⇒ ω = ω0
(ω (ω ] =
!
[ F?1$1? 1X? - ,v P+
ω=∞
ω=0
=
/+τ = (ω
τω
−/ − τω
= ! (∠'. = + (
/+τ ω /+τ ω /+τ ω
ω↑ ⇒ A4 "4 ↓ : 4 :*_? Hf !$ FP P; ω ↑ ⇒ FP P; →0
ω↑ ⇒ H# 4A → −π : 4 FK ? F?1$1? ω↑ ⇒ F?1$1? →0
ω = 0+
(0 + ( 0 + = ! (/ = − (/ = ∠0
ω=/
τ
) 5 ? = - 4 1!"
(/ = ∠− π = −(
τ τ
(/
)
ω=∞
(ω (ω = 0∠ − π = 0 − (/
) # ? UY H- π H# 4A - ?4 : 4 ™ *? ? •P?
H# n K? $ d" Q 4 -): 4 ω d" Q %#4[Q4 :a c #4 " %2Q :a
H# n4 # P? ? PQ4 1X? H- :* " 4 : 4 3 aT ,- H 4 #4 "
) ?
@ ? 4 :I 8" = .# *+ :X+ @ _?
/ + τ/ /+τ
=
/+τ/ /+τ = (ω
(ω (ω =
/ + ( τ /ω / + ( τ ω
.# /
(ω (ω =
/+τ ω /+τ ω
τ /ω + '. τ ω
(ω = ! − (
−/ −/
∠ (ω '.
?1$1? P P; :! n ` Q # @
/ − (τ /ω / − (τ ω / − τ /τ ω − τ /τ ω
(ω (ω = = +(
/ + τ/ ω / + τ ω / + τ/ ω / + τ ω / + τ/ ω / + τ ω
@ #Y ?: - ?1$1? 1X? - ,v P+ c P P; :! n U I KL -
/ − τ /τ ω
ω=
/
=0 ⇒ =0 ⇒
/ + τ/ ω / + τ ω τ /τ
!
^
@ #Y : - ,v P+ + $ ? 4 n ?1$1? :! n 4 ω `# 4 ;
− (τ / + τ ) /
τ /τ − τ /τ
(ω (ω )= =
   (τ / + τ ) ω d"
( 1X? - ,v P+ .X?
τ τ
/ + /  / + 
Q F?1$1?
  
 τ /τ  τ /τ 
ω = 0+
Sω = ∞ +ω = 0 + A4 d"
( 0 + = ∠0 = − (/
Q %#4[Q4 O 475 B@
(0+
/ /
) $ 3 k"4 4 < * X? ω = ω= 4 - @ `# !+
τ τ/
ω→∞
(∞ (∞ = 0∠ − π = −/ − (/ ) 1I ? 4 31 ,- A4
[G " ™ G*? HG P" A4 g "41+ ? ?4 ) ? a- − ∞ ∞ :I 8" 1I H 1+
) -# •+4 a-
= @ _?
/+τ/ /+τ /+τ$
o 5 $×
π
K ? m n H# 4A U1T [ " :a ) 1I ? ™ *? 4 dE # 4 m n U1T
S :*_? $ d" Q 4 -O): 4 I A ”T H- : 4 A4 .NI c: 4 8B
/+τ/ /+τ /+τ $ /+τ )

= @ _?
) : 4 .? ,- aT % T
H- :* " − π A4 "4 H- _ 4 ; O A Q %$ A4 "4 %$ c : #1N# " 4 1!" 4 # E m n l4
) 1- $41 S 2*n : >n1?

' 4 1!" - KL l4
/+τ
/+τ/ /+τ
= =/ @ _?
/ + (τω /+τ ω
(ω (ω = (ω = =
/ + (τ /ω / + (τ ω /+τ/ ω /+τ ω
∠'. −/τω − '. −/τ /ω − '. −/τ ω
) I- ? A Q %#4[Q4 H ?4 %#4[Q4 c KL l4
/ / /
p p @ 4: ;
τ τ/ τ
a* n db c # 5 ? •" 4 A Q %#4[Q4 H ?4 %#4[Q4 ># - ?4 KL l4 4 -4
) 475 ? lq+
ω=0
(0 = ∠ (0 = 0
) 5 ? ™ *? 4 −π H# 4A -
ω →∞
(∞ = 0 ∠ (0 = π − π − π = −π
/ / /
τ/ τ τ
p p @3 : ;
@ # 4 4 A Q H ?4 %$ 4 -4
) T ? 8B E A Q c KL d" Q 41;
Hf !$ c dE ) $ f? 4 KL l4 "41 " : 4 `N!? c I - R# [" 2 m n KL 54
- ?4 $m n KL 4 >+ .n4 ;
/ / /
p p
τ/ τ τ @ 31 : ;
) 475 ?4 1 l4 # a" KL !z ) # 4 %$ π cm n N2!B l4
) : 4 KL 4 >+ .n4 ; c 8B E H- 8 B A4 c 4 1!" % T €+ 4 >+
@ : #1N# " 4 1!" - x1" l4
=/ =
/+τ
@ _?
(ω (ω = (ω =
( ω / + ( τω
@ # S "A ? 4 a* n O "A ? .E dE 1f" m n A4 # - : #1N# " K?
) ? ] j "4 ! 4 ? `#4 H
(ω (ω = ∠0 − π − '. −/τω
ω /+τ ω
) : 4 %$ ; A4 "4
) # 4 3A= m" k? c I ∞ A4 "4 U1T
ω = 0+ ⇒ ( 0 + = ∞∠ − π
ω → ∞ ⇒ (∞ = 0 ∠ − π
@m" k?
− (
τω + ( ω )
( (ω ) ( (ω ) =
(
ω /+τ ω )
( (ω ) = − τ + ( −
( (ω )
/+τ ω ω /+τ ω ( )
dE
ω = 0+ ⇒ − τ − (∞
@ / #4 " /
:I 8"
( )=
(ε ! ) =
(/ + τ )
= ε! ⇒ ( )=
( ) ⇒
(θ (θ
! − (θ
ε ! ( θ / + τε ! ( θ ε
π π
%#4[Q4 :a rD :a
/ θ =− +θ = A4 c =
ε
→∞ x >I H- 4 #4 "
d" Q
′
@ / 4 - ?4
) 4 < K+ / - /′ % T :a JPQ
′
@ :I 8"
(ε ! ) =
/
(θ
! − (θ
ε ): 4 :# a" - #4 x >I
 $π  π
) 5 ? θ = ω = 0 + H- x I θ = ω = 0 − A4 4 1!"
 
( )= ( )=/
(/ + τ ) ) I- cx1" 54 G _?
( (ω ) =
( (ω ) (/ + ( τω )
( (ω ) = ∠ − π − '. −/τω
ω /+τ ω
) # 4 m" k? H- A " dE c: 4 f A4 "4 U1T
ω = 0+ ⇒ ( ( 0 ) = ∞∠
+
−π
$π
ω = ∞ ⇒ ( (∞ ) = 0∠ −
$π
) 5 ? 0∠ − H- cf H ?4 - 1- − π A4 x I c $ d" Q Z4A4 H-
:I 8"
/ #4
7 = ε ! (θ
π π
/
− ≤θ ≤ +
Κ Κ −(
( )= ≈
(ε ! ) (/ + τε ! )
θ
!
(θ (θ ε
Κ
: - θ :I 8" H# 4A ?4 1- θ -4 - H# 4A ¡ !z ) ? . ? f H- c ε NT1 . - x >I
ε
/
): 4 ?Y
^
@ _?
Κ
Η( )= / ( )= $
(/ + τ )
Κ
( (ω ) =
( ( ω )$ (/ + ( τω )
Κ
( (ω ) = ∠−
$π
− '. − /τω
ω$ /+τ ω
ω = 0+ ⇒ ( ( 0 ) = ∞∠ −
+ $π
ω =∞ ⇒ ( (∞ ) = 0 ∠ − π ) # 4 A " m" k?
/ 7 = ε ! (θ
π π
− ≤θ ≤ +
Κ Κ − ( $θ
( )= ≈
ε$
!
(ε ! ) (/ + τε ! )
(θ $ (θ
): 4 / #4 rD - :a H 1I H 1+ ): 4 #4 " c $θ dE : 4 #4 " R# θ
Κ
( )= )
(/ + τ / )(/ + τ )
) 1I ? A / rD :a H : 4 #4 " 2 -4 - $ 4 >+
Κ
( (ω ) = ⇒
( (ω ) (/ + (τ /ω )(/ + (τ ω )
)
Κ
( (ω ) = ∠ − π − '. −/τ /ω − '. −/τ ω
ω ) / + τ/ ω /+τ ω
ω = 0+ 7 ( (0 ) = ∞∠ −
+
π @ #1I ? 4 *? 4 ! g H# 4A - 8"Y : 4 f H ?4 - ! g A4 x I
ω = ∞7 ( (∞ ) = 0∠ − $π
@ : „1N# " 4 1!" 2 < N"
) I- ? S −π _ 4 ; O A Q %$ H ?4 %$ < 1L H- 4 # E m n l4 !
H ?4 %#4[Q4 = ! ;4 S 8B E O A Q %#4[Q4 < 1L H- S (ω 1X? ”T :! O 4 # E KL l4 !
) 1- $41
@ x1" l4 !
) 5 ? x I :# a" - A4 4 1!" S t 4
): 4 4 >+ .n4 ; ?Y : -2H ∠ ( ( 0 ) = # × (− π ) ):

+
4 2 8" - 4 1!" x I H# 4A S ]
: „1N# " 4 1!"
:Ga rDG :# a" - x >I H- #4 " 2 c ω = 0 + H- ω = 0 − A4 4 1!" U .? 4 -Si
′
) ? S / # O / #4
2h # - ¡! ; ) 5 f $ d" Q A4 dE # - H2; ? `#4
@ 0ω 1X? ”T :! $ KL $m n 4 -
∠ (( + ∞)= (− π )+ (π ) ∠ ( (∞ ) = ( − )(− π )
G? :G - 8BG E H- 8 B A4 4 1!" % T :a €+ 4 >+ A4 $ KL 4 >+ !
) #Y
@ H I75 3 + U # E < " X ?4 A4 _?
) # Y: -4 $ KL 4 >+ H*+ ? x1" .n4 ; ): 4 ?Y R# : „1N# " 4 1!"
x I & H# 4A ∠ ( ( 0 ) = −π = #(− π ) ⇒ # =
+
4 >+ .n4 ;

∠ ( (∞) = ( − ) − π  = − π⇒ − =)
 
4 >+ .n4 ;

∠ ( (∞) = − π
 ): 4 4 *? H- + : 4 # 5 H ; " aT c : ; 4 *? A4
): 4 .n4 ; H : 4 312>? 4 1!" 4 -4 A Q I A4
− =)⇒ −/ = ) ⇒ =6 .n4 ; 4 >+
@ : „1N# " 4 #E >?

$ m n 4 >+ 7  1" . 4
 SH - ?O

>+ 7 % 
$ KL 4
 ): 4 :a rD 4 *? U A 4 >+ i H
@ : „1N# "
&( )= $( )+ & ( )
( )= /+ ( ) ( )= /+
$( ) $( )
H - HP2; $m n $ KL RPSTU
→%
B O $m n $m n RPSTU
→
% @ ># 4 : !$4 H - HP2; $m n 4 #E H

i: + _2_? u(
& = −/ 1; % T : „1N# " 4 1!"
ij + _2_? rD u/
/+ 4 #E" $ Hf# ← 4 # E " H - HP2; a* n = %
= 4 # E " A - HP2; a* n S : #1 " ?. 4 O
) $ 1" . 4 4 #A # 5 ? •" 4 #E"["4 $ 1X? H # a* n
) ?] ; Z[ 4 a"Y dE
G# G$ m n # $ KL 3 !+ O : 4 I ) Z4A4 H- A Q ! ? c ! * n 34 5 # G 3 + U # E A4
@ : -12 ? )S (ω 1X? ”T :! # " 1X?
2 3 QSt4
-
,
: „1N# " .? 4 1!" S]
(m ; - 4 #E -Si
∠ ( ( 0 ) = − $π
+
): 4 H Q . 4 I C !? −
π
A4
#=$
∠ ( (∞ ) = − π ⇒ − =/
) 1- $41 ≥ $ ! ; dE : 4 $ Z[ S 2 O x1"
`# 4 ): 4 H f5 - ?4 H Q +12 ! : 4 T .? $π H - ? : ; 4 *? A4
π f - > n dE 4 4 ,- $ ! 5 ? S 31 3 O $ ,- JPQ π :f5 -
): 4 S O # 4 4 KL + 6 .n4 ; dE $ π ># 4
− =/⇒ −$ =/⇒ =)
># : 4 + A4 % - %# $ KL 4 >+ .n4 ; dE : 4 π A4 % - 4 1!" A Q %#4[Q4
): 4 -4 - KL 4 >+
( )= (/ + τ / )(/ + τ )(/ + τ $ )
$
(/ + τ )/
/ / / /
〈 〈 〈 :I1" U41+ ?
τ τ/ τ τ $
) 5 ?] z B UY 1X? # P? 3 !+ I - ) h 54 ): 4 I .; ) 4 - H2• ? `#4
S 4 ) H- 8 - O I - UY A4 >- # 9 A4 .*n "41+ ? u( H P"
4 E4 1 - `# ! H ? U - :a J R# S u( O R# K ? 54 @ I - . 4 u( 54 S .
) ?
:*_? *N# &


& = 0
&
K ? *N#
&= −% ⇒0 = 0−% ⇒ % = 0
−0 6 〈− / ⇒ 〉 ) 4 " 4 # E " m n H - HP2;
) I-i u( 54 S /
& =−
=0 &= − % ⇒− = 0− % ⇒% =
) 4 4 #E"m n cH - HP2;
0〈 〈 ⇐ − / 〈− 0 6
)))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))
) 4 \1Q Hf# U N? @ `# !+
h@ .!B .*n _? " !$ @ `# !+
^
@ a- H I ; A Q H I ;
4 # E " J #4 I @
/+ ( ) ( ) = 0 ⇒ = VWXYZ
/+ ( (ω ) ( (ω ) = 0 ⇒ = (ω m n
) I - (ω 1X? ”T :! $ m n # HN"Y - V f? : 4 " 1"
/+ ( (ω ) ( (ω ) = 0 ⇒ ( (ω ) ( (ω ) = −/
( (ω ) ⋅ ( (ω ) = / 
: ; `# 4

U 1" J#4 I

∠ ( (ω ) ( (ω ) = −π 
): 4 + 4 # E c I - H I4 U 1" A ? A4 f - H2L Q cJ#4 I n $
) Y: - 4 A Q H I ; cH ?4 A4 "4 U4 :- l - U41+ ?
I - H I4 ω = ω d" Q Z4A4 H- ‹ Q@ a- H I ;
∠ ( ( ω ) ( ( ω ) = −π 


( (ω ) ( (ω ) = α 
/
α
H GI ; ⋅ = →) G5 RG# .L ; + 1I ] z α #-H 4 P? α ‚jf? 4 P? R#
): 4 + U ?A H ): 4AQ D? HN2- : " H ?4 + l4 a-
!− → !− = / ∠! − (ω = −ω
D_G? ) " G ? U 1" A ? H- 4 H : 4 4 a- :#1P+ .n4 ; k a- H I ; ,n4
) 1- $41 ? •" ? NT1 4 P? c # Y : - 4 - 4 P? 54

@AQHI;
Q ω =ω
( (ω ) ( (ω ) = β
@ UY H I- " d" Q ‹ Q
c I-∠ 54 8"Y ) 1I ? ( (ω ) ( (ω ) = /
@ 8"Y
AQHI;
⋅ = β − (− π ) = π + β U# 4 m ; -
⋅ = β − (− />0 ) = />0 + β o H m ; - #
⋅ ≥ =0 o ># ): 4 += - 8 l ; m ?AQHI;
HQ Gz4 ) G G G A GQ A4 c ω d" Q U41+ ?H : 4 A Q U4[ ? .n4 ; c AQHI;
) 5 ? a- 4 # E Hk " A Q %#4[Q4 •B - H- KL U
@ Š9—‡—– 41
= )6 o
) I - )6 o
AQHI;H ` >+ 1v 4 )
= -
+ $ +/
@ # - 4 -4 c a- A Q H I ; H2• ? $ @ .; .;4 ?
+ + / → (ω + (ω + / = / − ω + ( ω
(ω (ω =
ω (/ − ω ) +ω
ω
∠ (ω (ω = − π − '. −/
/−ω
t# >+ A4 @ ¡! ; (ω 0 (ω 0 = /
= β + π ⇒ )6 o = β + />0 o ⇒ β = − /$6 o
∠ (ω 0 ( ω 0 = − /$6 o
ω ω
∠ (ω (ω = − π − '. −/ = − A0 o − '. −/ = − /$6 o
/−ω /−ω
ω ω
'. −/ = )6 o ⇒ =/⇒ /−ω −ω = 0
/−ω /−ω
−/+ 6
−/±
⇒ ω + ω −/ = 0 ⇒ ω =
6
−/− 6
(U Y: -@
ω /−ω +ω
6 −/
) #Y : -( + $ ? 4 nω= \1Q H -4
$41 ? K5 ? H- ?Y : -( 8"Y S I " 1" O I KL R# › 54
) 5 H* X? #A < 1L H- # ( #- I-
=
f" " 1" + 4 R# H- U41+ ?H 5 _ 4 ;
) I- ? -4 - I - 4 # E

Sharif Linear Control

Transféré par

Informations du document

Copyright

Formats disponibles

Partager ce document

Partager ou intégrer le document

Options de partage

Avez-vous trouvé ce document utile ?

Ce contenu est-il inapproprié ?

Droits d'auteur :

Formats disponibles

Sharif Linear Control

Transféré par

Droits d'auteur :

Formats disponibles

!

) /5 ! ;) 51 5.) * 7 58 9 .):$ ) ;< " 2 3, 2=>

E ) * :5 . 5 1 &5 .G F D ) E ) %5, ) 5 5!) , *

E) 52=> H @ 5 * :5, H @ 5 5 1 - I5! * 5. %5 ) 5! . J !) ,

5. / 5 ! 5 N * B5 5O- ) / 5 ! " #$ % &' * P , M2 , !

Q V %, B! [ ?: + %1 ) ) B! [ " 2 UP: / !)1

* 5.): [ * 5 5.): : "5\ FS 5 1 5 " 52 B5! [5 Z ?: %1

%5, ) ) 5L 5 B5! 7) 2X / ! 0 1 ] . GSSS > .): :

0 5 1 "K 5 5\1 ) *^95 ) 5L S ! , 89 ) L %, Q V %1 :$

7):56 %5, UP: *: C `:#= Q V %1 ) B, _ ) L SB! ,_) L

5Q V %51 B5! 5 ] . 7):6 ) */ 0 X/ ! %, GJ -F )

H' ,0 1" X* , %2 ) %, Q V ) La . S @ ) , W2=

5 5, A5 SB5! ) ) 5, / 5 ! " X "6 Q V %1 %, %Q: ,

S : + & 0; C / ! %, e ):N ) / !) V! , `:#= Q V

, %L# 0 1 / ! gTg "

S . B! , `:#= Q V*E d ) .h$ ) " ! #$ %&

) 1 %, *B! & a ) :Q h $ ) E d %1 .Q) " ! '

%5K ) C 5 1 0 5 1 , 7 XiN S SSSSS c , @ / ! @ :! - ) A@ _ <

) 5L G `:5#= C :59 5Q V 5 F 456 =V ) 0 !) J

456 h5V C % 4@ B ) ! , gooo %, : Q V XB )

5 S/5 ,%5 5Q V * 456 ) 5, %1 1 )1 ,/ ! 1) 1 ,c

/ . :5V 5 J; ) 5 S ) :5Q / 5 ! ) r @0 Z * ; < / !)

7):56 %, B 1 , %=, ) ) ω →θ S / 1 " 2 B >: %, ) ):$ BX !

j5 1 /. , %1 B! . J 7 => %X: ' G ! . " F !

S ! , J; %, Q V / . :V %1 B! ) L 1 7 6& 0?; + @? & '; ;

%5, %51 B5! C 5 1 0 1 Q V 1 0= D E 0= > + 0= '; ;

0i V nX , C "L ) ' / ! %, / !+ : &: S @

) J; J 51 # 5 h5!: 5 . J; C 5 1 : SSS / ! , 4# " ,:

S @ 0 1 J 1 7) , @ ./!) [ ' nX , L &: S

5 @ N ):N 7 => V , S B! . 0: : B1 _ ) #V & : Su

& :5 & ! 1 2 ' "3 1 ' 1 : /1 & : %1

HG 4 J#4 GI & CDGE= H- F CDE= .# *+ :* " A4 : + *B @ .# *+ ,- +

SA 4 $&$ O I - H I4 U N# .# *+ ,-41+ "41+ F? T # )/

@ Z4[ 4 <= >? ` I1" G 4 H2; ?

@ Z4[ 4 <= >? G 4 H2; ?

S F#18f E U - OFe2B & $ ≤

h Fe2B g # : 4 Fe2B #Y ) # Y : -4 #A . "4 K# H >? - .# *+ ,- + @ `# !+

@ 34 5 # 012- $ . Nf+ &4[ 4 p

) "1I F? & * ,! 8 T c k"Y H : 4 &4 H P" @ ,! H P" )6

@& & $ 012- )(

@&4A1? & $ 012- )/

@FN#[ Q & $ 012- )6

& - S S&A41? O S& O O

) " 4 " U N# & c $ UY F U I ,! g F2B 4 #A " &A41?

) #1" F? A1; 4 a"Y V *+ 4 Z4[ 4 <= >? )(

>? H Iu( @ Z4[ 4

A4 >- ] >f"4 ?4 " ? Fn - 5 < 1L H- # - S 1I F!" 5 R# O 1I F!" FN# ,! - ,! A4 .*n ] >f"4

) : 4 FN# UY H!+ x I 5H : 4& ? @ S HP2; O H - ?

) HP2; & $ P "4 ] w2L ; @ HP2; a-

) " 4 "F f? 5 y $ H F# $ HP2; @ 4[k? & $ HP2;

) # 4 " 4[k? & $ HP2; !z

I - F? ∆ =/ 4 " 1 HP2; H FQ4 5 @ H 1+

@ I - F!" 4[k? dE f? =− / / =− / / U1T

4[k? & $ HP2; @ / $ / 6 / = / <

6 < ) I - F!" 4[k? &4 HP2; y $ - HP2; ) −

∆ =/− / + + $+ + < + / $ + / 6 + + 6 < − / $ 6 + + $ 6 < +

S) : 4 N" €+ r4 5 4 #A : 4 U N# \1Q H2• ? - a"Y ∆O

. "4 K# H >? # .# *+ ,- + A4)

@ . "4 K# H >? # .# *+ ,- + A4 : ; <= >? U Y: -

@ 5 t# >+ 41j 4 >+ H- "41+ F? S H *!$ d# + ? o O : ; & $ € ? t# >+

S : 4 $ KL 4 >+ a* n 4 >+ H p O I - KL 4 4 "41+ F? G/o

- 1+4 E|4 t# >+ @

& 475 3 " @

@ #1 - 4 #A H *!$ : ; <= >? @ _?

HG 4 J#4 GI & CDGE= H- F CDE= .# + : " A4 : + B @ .# + ,- +

: 4 ′ ™ ? a n 4 >+ 2 1v ` !$ ) : 4 ′ $ 5 4 8 "4 4 >+ 2

) #4 ?: - 2 .# + ,- + i j? U 4 4 n KL A4 H 4 H >? A4 : + B H•jf? H >?

β <4 €+ L H- α <4 €+ L :* " A4 : + B β H- : " α : ;@: ;