# 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:

${\displaystyle y_{k}=CA^{k}x_{0}+\sum _{i=0}^{k-1}CA^{i}Bu_{k-1-i}+Du_{k}}$

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