HW4 Prob 3a formula correction

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The formula in the book for problem 4a is incorrect. It should be be replaced with:

\( y_k = C A^k x_0 + \sum_{i=0}^{k-1} C A^i B u_{k-1-i} + D u_k \)

--Julia Braman 08:19, 23 October 2007 (PDT)