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May 24th, 2018
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  1. x_dot = Ax + Bu
  2. y = Cx + Du
  3.  
  4. u = inv(D) * (y - Cx)
  5.  
  6. x_dot = (A - B inv(D) C) x + B inv(D) y
  7. y = -inv(D) C x + inv(D) y
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