HW4 Prob 4a Formula Correction

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

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

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