(* Content-type: application/mathematica *)

(*** Wolfram Notebook File ***)
(* http://www.wolfram.com/nb *)

(* CreatedBy='Mathematica 7.0' *)

(*CacheID: 234*)
(* Internal cache information:
NotebookFileLineBreakTest
NotebookFileLineBreakTest
NotebookDataPosition[       145,          7]
NotebookDataLength[      6858,        176]
NotebookOptionsPosition[      6385,        157]
NotebookOutlinePosition[      6753,        173]
CellTagsIndexPosition[      6710,        170]
WindowFrame->Normal*)

(* Beginning of Notebook Content *)
Notebook[{
Cell[BoxData[
 RowBox[{"MatrixForm", "[", 
  RowBox[{"Apr", "=", 
   RowBox[{"{", 
    RowBox[{
     RowBox[{"{", 
      RowBox[{
       RowBox[{"-", "c1_"}], ",", 
       RowBox[{"-", "c2_"}], ",", 
       RowBox[{"-", "e3_"}], ",", "0", ",", 
       RowBox[{"-", "c10_"}]}], "}"}], ",", 
     RowBox[{"{", 
      RowBox[{"1", ",", 
       RowBox[{"-", "c4"}], ",", 
       RowBox[{"-", "e2"}], ",", "0", ",", 
       RowBox[{"-", "c10"}]}], "}"}], ",", 
     RowBox[{"{", 
      RowBox[{"0", ",", 
       RowBox[{"-", "c8"}], ",", 
       RowBox[{"-", "e1"}], ",", "0", ",", 
       RowBox[{"-", "c7"}]}], "}"}], ",", 
     RowBox[{"{", 
      RowBox[{"0", ",", "c6", ",", "c11", ",", "0", ",", 
       RowBox[{"-", "c6"}]}], "}"}], ",", 
     RowBox[{"{", 
      RowBox[{"1", ",", "0", ",", "0", ",", "0", ",", "0"}], "}"}]}], "}"}]}],
   "]"}]], "Input",
 CellChangeTimes->{{3.5115766458513775`*^9, 3.5115766543918657`*^9}, {
   3.5115767185535355`*^9, 3.511576759696889*^9}, {3.511576813268953*^9, 
   3.5115770905388117`*^9}, {3.5115771432838287`*^9, 
   3.5115772469437575`*^9}, {3.511577321270009*^9, 3.511577360019225*^9}, {
   3.511577402393649*^9, 3.511577431683324*^9}, 3.511578480143293*^9}],

Cell[BoxData[{
 RowBox[{"MatrixForm", "[", 
  RowBox[{"Xpr", "=", 
   RowBox[{"{", 
    RowBox[{
     RowBox[{"wz", "[", "t", "]"}], ",", " ", 
     RowBox[{"\[Alpha]", "[", "t", "]"}], ",", 
     RowBox[{"\[CapitalDelta]v", "[", "t", "]"}], ",", 
     RowBox[{"\[CapitalDelta]H", "[", "t", "]"}], ",", 
     RowBox[{"\[CurlyTheta]", "[", "t", "]"}]}], "}"}]}], 
  "]"}], "\[IndentingNewLine]", 
 RowBox[{"MatrixForm", "[", 
  RowBox[{"XprPR", "=", 
   RowBox[{"D", "[", 
    RowBox[{"Xpr", ",", "t"}], "]"}]}], "]"}]}], "Input",
 CellChangeTimes->{{3.5115766458513775`*^9, 3.5115766543918657`*^9}, {
   3.5115767185535355`*^9, 3.511576759696889*^9}, {3.511576813268953*^9, 
   3.5115770905388117`*^9}, {3.5115771432838287`*^9, 
   3.5115772469437575`*^9}, {3.511577321270009*^9, 3.511577360019225*^9}, {
   3.511577402393649*^9, 3.5115775003992543`*^9}, {3.511578221624506*^9, 
   3.5115783023291225`*^9}, 3.511578477625149*^9, {3.5115795492554426`*^9, 
   3.5115795495494595`*^9}, {3.51157963541337*^9, 3.511579636228417*^9}, {
   3.5115797773734903`*^9, 3.5115797901632214`*^9}, {3.5115798739230127`*^9, 
   3.511579884778633*^9}}],

Cell[BoxData[
 RowBox[{"MatrixForm", "[", 
  RowBox[{"Bpr", "=", 
   RowBox[{"{", 
    RowBox[{
     RowBox[{"{", 
      RowBox[{
       RowBox[{"-", "c3"}], ",", "r3"}], "}"}], ",", 
     RowBox[{"{", 
      RowBox[{
       RowBox[{"-", "c9"}], ",", "r1"}], "}"}], ",", 
     RowBox[{"{", 
      RowBox[{"0", ",", "r2"}], "}"}], ",", 
     RowBox[{"{", 
      RowBox[{"0", ",", "0"}], "}"}], ",", 
     RowBox[{"{", 
      RowBox[{"0", ",", "0"}], "}"}]}], "}"}]}], "]"}]], "Input",
 CellChangeTimes->{{3.5115766458513775`*^9, 3.5115766543918657`*^9}, {
  3.5115767185535355`*^9, 3.511576759696889*^9}, {3.511576813268953*^9, 
  3.5115770905388117`*^9}, {3.5115771432838287`*^9, 3.5115772469437575`*^9}, {
  3.511577321270009*^9, 3.511577360019225*^9}, {3.511577402393649*^9, 
  3.5115775003992543`*^9}, {3.511578221624506*^9, 3.511578336397071*^9}, {
  3.5115784072351227`*^9, 3.511578474880992*^9}}],

Cell[BoxData[
 RowBox[{"MatrixForm", "[", 
  RowBox[{"Upr", "=", 
   RowBox[{"{", 
    RowBox[{
     RowBox[{"\[Delta]v", "[", "t", "]"}], ",", 
     RowBox[{"\[Delta]sg", "[", "t", "]"}]}], "}"}]}], "]"}]], "Input",
 CellChangeTimes->{{3.5115766458513775`*^9, 3.5115766543918657`*^9}, {
  3.5115767185535355`*^9, 3.511576759696889*^9}, {3.511576813268953*^9, 
  3.5115770905388117`*^9}, {3.5115771432838287`*^9, 3.5115772469437575`*^9}, {
  3.511577321270009*^9, 3.511577360019225*^9}, {3.511577402393649*^9, 
  3.5115775003992543`*^9}, {3.511578221624506*^9, 3.511578336397071*^9}, {
  3.5115784072351227`*^9, 3.511578469727697*^9}, {3.511579483110659*^9, 
  3.511579657514634*^9}}],

Cell[BoxData[
 RowBox[{"urdv1", "=", 
  RowBox[{"MatrixForm", "[", 
   RowBox[{
    RowBox[{"Apr", ".", "Xpr"}], "+", 
    RowBox[{"Bpr", ".", "Upr"}]}], "]"}]}]], "Input",
 CellChangeTimes->{{3.5115766458513775`*^9, 3.5115766543918657`*^9}, {
  3.5115767185535355`*^9, 3.511576759696889*^9}, {3.511576813268953*^9, 
  3.5115770905388117`*^9}, {3.5115771432838287`*^9, 3.5115772469437575`*^9}, {
  3.511577321270009*^9, 3.511577360019225*^9}, {3.511577402393649*^9, 
  3.5115775003992543`*^9}, {3.511578221624506*^9, 3.511578336397071*^9}, {
  3.5115784072351227`*^9, 3.511578469727697*^9}, {3.511579483110659*^9, 
  3.5115796233226786`*^9}, {3.5115796814930058`*^9, 3.511579750470951*^9}, {
  3.5115798922790623`*^9, 3.5115799453100953`*^9}, {3.5115800047734966`*^9, 
  3.5115801509608583`*^9}}],

Cell[BoxData[
 RowBox[{"urdv", "=", 
  RowBox[{"MatrixForm", "[", 
   RowBox[{"Table", "[", 
    RowBox[{
     RowBox[{
      RowBox[{
       RowBox[{"XprPR", "[", 
        RowBox[{"[", "i", "]"}], "]"}], "-", 
       RowBox[{"urdv1", "[", 
        RowBox[{"[", 
         RowBox[{"1", ",", "i"}], "]"}], "]"}]}], "\[Equal]", "0"}], ",", 
     RowBox[{"{", 
      RowBox[{"i", ",", "1", ",", "5"}], "}"}]}], "]"}], "]"}]}]], "Input",
 CellChangeTimes->{{3.5115766458513775`*^9, 3.5115766543918657`*^9}, {
  3.5115767185535355`*^9, 3.511576759696889*^9}, {3.511576813268953*^9, 
  3.5115770905388117`*^9}, {3.5115771432838287`*^9, 3.5115772469437575`*^9}, {
  3.511577321270009*^9, 3.511577360019225*^9}, {3.511577402393649*^9, 
  3.5115775003992543`*^9}, {3.511578221624506*^9, 3.511578336397071*^9}, {
  3.5115784072351227`*^9, 3.511578469727697*^9}, {3.511579483110659*^9, 
  3.5115796233226786`*^9}, {3.5115796814930058`*^9, 3.511579750470951*^9}, {
  3.5115798922790623`*^9, 3.5115799453100953`*^9}, {3.5115800047734966`*^9, 
  3.5115801509608583`*^9}, {3.511580187329938*^9, 3.51158022949035*^9}}]
},
WindowSize->{1172, 670},
WindowMargins->{{11, Automatic}, {Automatic, 0}},
CellContext->Notebook,
FrontEndVersion->"7.0 for Microsoft Windows (32-bit) (February 18, 2009)",
StyleDefinitions->"Default.nb"
]
(* End of Notebook Content *)

(* Internal cache information *)
(*CellTagsOutline
CellTagsIndex->{}
*)
(*CellTagsIndex
CellTagsIndex->{}
*)
(*NotebookFileOutline
Notebook[{
Cell[545, 20, 1204, 31, 31, "Input"],
Cell[1752, 53, 1134, 23, 52, "Input"],
Cell[2889, 78, 902, 22, 31, "Input"],
Cell[3794, 102, 684, 13, 31, "Input"],
Cell[4481, 117, 796, 14, 31, "Input"],
Cell[5280, 133, 1101, 22, 31, "Input"]
}
]
*)

(* End of internal cache information *)