- Page 1 and 2: CONTROi I naiysis ana uesign (4)WIL
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- Page 14 and 15: Preface I began writing this textbo
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- Page 19 and 20: 2 CHAPTER 1. INTRODUCTION Figure 1.
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- Page 25 and 26: 8 Figure 1.3: The system ± = r + x
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38 CHAPTER 2. MATHEMATICAL PRELIMIN
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40 CHAPTER 2. MATHEMATICAL PRELIMIN
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42 CHAPTER 2. MATHEMATICAL PRELIMIN
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44 CHAPTER 2. MATHEMATICAL PRELIMIN
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46 CHAPTER 2. MATHEMATICAL PRELIMIN
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48 CHAPTER 2. MATHEMATICAL PRELIMIN
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50 CHAPTER 2. MATHEMATICAL PRELIMIN
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52 CHAPTER 2. MATHEMATICAL PRELIMIN
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54 CHAPTER 2. MATHEMATICAL PRELIMIN
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56 CHAPTER 2. MATHEMATICAL PRELIMIN
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58 It follows that CHAPTER 2. MATHE
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60 CHAPTER 2. N ATHEMATICAL PRELIMI
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62 CHAPTER 2. MATHEMATICAL PRELIMIN
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Chapter 3 Lyapunov Stability I: Aut
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3.1. DEFINITIONS 67 Figure 3.2: Asy
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3.2. POSITIVE DEFINITE FUNCTIONS 69
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3.3. STABILITY THEOREMS 71 system o
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3.3. STABILITY THEOREMS 73 In other
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3.4. EXAMPLES where l is the length
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3.5. ASYMPTOTIC STABILITY IN THE LA
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3.5. ASYMPTOTIC STABILITY IN THE LA
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3.6. POSITIVE DEFINITE FUNCTIONS RE
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3.7. CONSTRUCTION OF LYAPUNOV FUNCT
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3.8. THE INVARIANCE PRINCIPLE Step
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3.8. THE INVARIANCE PRINCIPLE 87 De
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3.8. THE INVARIANCE PRINCIPLE 89 an
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3.8. THE INVARIANCE PRINCIPLE 91 bo
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3.9. REGION OF ATTRACTION 93 We can
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3.9. REGION OF ATTRACTION 95 Figure
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3.10. ANALYSIS OF LINEAR TIME-INVAR
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3.10. ANALYSIS OF LINEAR TIME-INVAR
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3.11. INSTABILITY 101 (i) V(0) = 0
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3.12. EXERCISES 103 (a) Find all of
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3.12. EXERCISES (3.8) Prove the fol
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Chapter 4 Lyapunov Stability II: No
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4.1. DEFINITIONS 109 All of these d
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4.2. POSITIVE DEFINITE FUNCTIONS 11
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4.3. STABILITY THEOREMS 113 Thus, W
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4.4. PROOF OF THE STABILITY THEOREM
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4.4. PROOF OF THE STABILITY THEOREM
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4.5. ANALYSIS OF LINEAR TIME-VARYIN
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4.5. ANALYSIS OF LINEAR TIME-VARYIN
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4.6. PERTURBATION ANALYSIS 123 and
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4.7. CONVERSE THEOREMS that is Amin
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4.9. DISCRETIZATION 127 4.9 Discret
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4.9. DISCRETIZATION 129 differentia
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4.10. STABILITY OF DISCRETE-TIME SY
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4.11. EXERCISES 133 To study the st
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4.11. EXERCISES 135 xl ±2 = x2 + x
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138 CHAPTER 5. FEEDBACK SYSTEMS 5.1
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140 CHAPTER 5. FEEDBACK SYSTEMS (i)
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142 a) b) c) d) U U U -O(x) z CHAPT
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144 CHAPTER 5. FEEDBACK SYSTEMS Thu
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146 CHAPTER 5. FEEDBACK SYSTEMS G-1
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148 CHAPTER 5. FEEDBACK SYSTEMS In
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150 CHAPTER 5. FEEDBACK SYSTEMS Wit
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152 CHAPTER 5. FEEDBACK SYSTEMS alo
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154 CHAPTER 5. FEEDBACK SYSTEMS (5.
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156 CHAPTER 6. INPUT-OUTPUT STABILI
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158 CHAPTER 6. INPUT-OUTPUT STABILI
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160 CHAPTER 6. INPUT-OUTPUT STABILI
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162 CHAPTER 6. INPUT-OUTPUT STABILI
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164 CHAPTER 6. INPUT-OUTPUT STABILI
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166 CHAPTER 6. INPUT-OUTPUT STABILI
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168 but sup lH(.7w)I W CHAPTER 6. I
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170 CHAPTER 6. INPUT-OUTPUT STABILI
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172 CHAPTER 6. INPUT-OUTPUT STABILI
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174 CHAPTER 6. INPUT-OUTPUT STABILI
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176 CHAPTER 6. INPUT-OUTPUT STABILI
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178 CHAPTER 6. INPUT-OUTPUT STABILI
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180 CHAPTER 6. INPUT-OUTPUT STABILI
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182 CHAPTER 6. INPUT-OUTPUT STABILI
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184 CHAPTER 7. INPUT-TO-STATE STABI
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186 CHAPTER 7. INPUT-TO-STATE STABI
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188 CHAPTER 7. INPUT-TO-STATE STABI
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190 CHAPTER 7. INPUT-TO-STATE STABI
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192 CHAPTER 7. INPUT-TO-STATE STABI
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194 CHAPTER 7. INPUT-TO-STATE STABI
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CHAPTER 7. INPUT-TO-STATE STABILITY
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198 CHAPTER 7. INPUT-TO-STATE STABI
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Chapter 8 Passivity The objective o
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8.1. POWER AND ENERGY: PASSIVE SYST
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8.2. DEFINITIONS 205 Example 8.1 Le
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8.2. DEFINITIONS 207 Definition 8.4
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3.3. INTERCONNECTIONS OF PASSIVITY
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8.4. STABILITY OF FEEDBACK INTERCON
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8.4. STABILITY OF FEEDBACK INTERCON
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8.5. PASSIVITY OF LINEAR TIME-INVAR
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8.6. STRICTLY POSITIVE REAL RATIONA
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8.6. STRICTLY POSITIVE REAL RATIONA
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8.7. EXERCISES 221 Notes and Refere
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224 CHAPTER 9. DISSIPATIVITY theory
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226 CHAPTER 9. DISSIPATWITY Inequal
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228 CHAPTER 9. DISSIPATIVITY Thus,
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230 CHAPTER 9. DISSIPATWITY Figure
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232 CHAPTER 9. DISSIPATIVITY As def
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234 CHAPTER 9. DISSIPATIVITY for al
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236 CHAPTER 9. DISSIPATIVITY which
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238 CHAPTER 9. DISSIPATIVITY proper
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240 CHAPTER 9. DISSIPATIVITY Figure
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242 CHAPTER 9. DISSIPATIVITY Thus b
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244 CHAPTER 9. DISSIPATWITY This re
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246 CHAPTER 9. DISSIPATIVITY Thus,
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248 CHAPTER 9. DISSIPATIVITY d G u
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250 CHAPTER 9. DISSIPATIVITY U I I
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252 CHAPTER 9. DISSIPATIVITY x = a(
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254 CHAPTER 9. DISSIPATIVITY (9.5)
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256 CHAPTER 10. FEEDBACK LINEARIZAT
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258 CHAPTER 10. FEEDBACK LINEARIZAT
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260 CHAPTER 10. FEEDBACK LINEARIZAT
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262 CHAPTER 10. FEEDBACK LINEARIZAT
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264 CHAPTER 10. FEEDBACK LINEARIZAT
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266 CHAPTER 10. FEEDBACK LINEARIZAT
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268 CHAPTER 10. FEEDBACK LINEARIZAT
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270 CHAPTER 10. FEEDBACK LINEARIZAT
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272 CHAPTER 10. FEEDBACK LINEARIZAT
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274 CHAPTER 10. FEEDBACK LINEARIZAT
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276 CHAPTER 10. FEEDBACK LINEARIZAT
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278 CHAPTER 10. FEEDBACK LINEARIZAT
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280 CHAPTER 10. FEEDBACK LINEARIZAT
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282 CHAPTER 10. FEEDBACK LINEARIZAT
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284 CHAPTER 10. FEEDBACK LINEARIZAT
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286 CHAPTER 10. FEEDBACK LINEARIZAT
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288 CHAPTER 10. FEEDBACK LINEARIZAT
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Chapter 11 Nonlinear Observers So f
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11.1. OBSERVERS FOR LINEAR TIME-INV
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11.1. OBSERVERS FOR LINEAR TIME-INV
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11.2. NONLINEAR OBSERVABILITY 297 T
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11.3. OBSERVERS WITH LINEAR ERROR D
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11.4. LIPSCHITZ SYSTEMS 301 11.4 Li
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11.5. NONLINEAR SEPARATION PRINCIPL
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11.5. NONLINEAR SEPARATION PRINCIPL
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Appendix A Proofs The purpose of th
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A.1. CHAPTER 3 309 Figure A.2: Asym
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A.1. CHAPTER 3 is symmetric. Proof:
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A.2. CHAPTER 4 313 Lemma 3.5: The p
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itrJ A.3. CHAPTER 6 V 315 Thus, f I
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A.3. CHAPTER 6 317 It follows that
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A.3. CHAPTER 6 319 Condition (ii):
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A.4. CHAPTER 7 321 and av ax < ki l
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A.4. CHAPTER 7 323 With this proper
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A.5. CHAPTER 8 325 (b) : Assume fir
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A.5. CHAPTER 8 327 H1 :............
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A.6. CHAPTER 9 329 that is ff ffo T
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A. 7. CHAPTER 10 331 Equations (A.6
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A.7. CHAPTER 10 333 (i) j = 0: For
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A.7. CHAPTER 10 335 Proof of Theore
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338 BIBLIOGRAPHY [12] R. W. Brocket
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340 BIBLIOGRAPHY [43] P. Kokotovic,
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342 BIBLIOGRAPHY [72] E. D. Sontag,
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List of Figures 1.1 mass-spring sys
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LIST OF FIGURES 347 6.12 The nonlin
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350 globally uniformly asymptotical
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352 Subspaces, 36 Supply rate, 224