E-LETTER on Systems, Control, and Signal Processing ISSUE No. 6: 24 August, 1987 Part One of Two Parts Editors: Bradley W. Dickinson Dept. of Electrical Engineering Princeton University Princeton, NJ 08544 bradley@princeton.edu Eduardo D. Sontag Dept. of Mathematics Rutgers University New Brunswick, NJ 08903 sontag@fermat.rutgers.edu Welcome to the sixth issue of the E-LETTER. To keep each mailing under 20K characters, we have divided this issue into two parts; don't miss the the second part which contains some graphics software for drawing block diagrams contributed by Jack Rugh. We remind you that items for posting can be emailed to either of the editors. PLEASE SEND CONTRIBUTIONS, since the eletter can only be useful if everyone participates! Back issues of the newsletter can be requested from sontag@fermat.rutgers.edu. ---------------------------------------------------------------------- CHANGES TO MAILING LIST The following are additions to the mailing list which was included with issue #2. An up-to-date copy of the complete list can be obtained from sontag@fermat.rutgers.edu. As usual, you may have to adjust the format depending on your mailer. Here we mix uucp, csnet, and arpanet formats. wuibc!dls@seismo.CSS.GOV (Donald Snyder) ihnp4!wucs1!wuibc!dls (Donald Snyder) hjlee%saturn.ketri.re.kr@relay.cs.net (Ho Jin Lee) mat@eneevax.umd.edu (Matthew James) andre@eneevax.umd.edu (Andre Tits) f1buckle@vax.ee.umn.edu (Kevin Buckley) hjt@ece-csc.ncsu.edu (Joel Trussell) f1eblee@vax.ee.umn.edu (Bruce Lee) r11mosk@vax.ee.umn.edu (Mos Kaveh) kehtar@tamvxee.bitnet (Nasser Kehtarnavaz) burnsreg@vtvm1.bitnet (John Burns) dlc@irishvm.bitnet (David L. Cohn) yf@irishvm.bitnet (Y.F. Huang) uicsl!pursley@a.CS.UIUC.EDU (Mike Pursley) ananth@tesla.ee.cornell.edu (Venkat Anantharam) eyad@eneevax.umd.edu (Eyad H. Abed) mathmqj@umcvmb.bitnet (Marc Jacobs) lagendij@hdetud53.bitnet (Jan Biemond) mitter@lids.mit.edu (Sanjoy Mitter) ocone@elbereth.rutgers.edu (Dan Ocone) tzila@wisdom.bitnet (Tsila Shamir) bobrov@czheth5a.bitnet (Ben-Zion Bobrovsky) schmiten@nuacc.bitnet (Bill Schmitendorf) The following address changes have been reported. cschwart@uvm-cs.uvm.edu (Carla Schwartz) bengt@bode.sunet.se (Bengt Martensson) feyh_g@colorado.bitnet (German Feyh) watmath!julian!elroy@seismo.css.gov (Roy Eagleson) jzavgren@bbn.com (John Zavgren) sannuti@pisces.rutgers.edu (Pat Sannuti) sussmann@pisces.rutgers.edu (Hector Sussmann) - - - - - - - - >From Jack Rugh: 1987 CONFERENCE ON INFORMATION SCIENCES AND SYSTEMS PROCEEDINGS NOW AVAILABLE After some delay due to problems with the printer, the 1987 Proceedings volumes are now completed, and will have been mailed to CISS registrants. There are surplus volumes available for purchase at a cost of $60 per volume. To purchase a copy, please contact Ms. Barbara Schmidt CISS Secretary ECE Department Johns Hopkins University Baltimore, MD 21218 - - - - - - - >From Kishan Jainandunsing The European Association for Signal Processing (EURASIP) is organizing in co-operation with IEEE region-8, an INTERNATIONAL WORKSHOP ON SVD AND SIGNAL PROCESSING in Les Houches, France, from 21 to 23 September 1987. Call for papers THERE ARE STILL SPACES AVAILBLE IN THE PROGRAM AND ROOM FOR MORE REGISTRANTS! Topics that will be covered by the workshop are: - mathematical, physical and technical foundations of the Singular Value Decomposition; - SVD algorithms: complexity, accuracy, convergence, parallelism, adaptation, implementation; - applications of SVD techniques in robust control, broadband matching, model reduction, spectrum approximation, array processing; - VLSI for SVD: divide/conquer, systolic architectures, partitionings, fault tolerance. Members of the organizing committee : Ed F. Deprettere, Gene H. Golub, Franklin T. Luk, Joos Vandewall, Paul van Dooren, J.L. Lacoume, C. Latombe. Submit 4 copies of a 4 page extended summary to : Workshop Secretariat K. Jainandunsing Dept. of Electr. Eng. Delft Univ. of Tech. 2628 CD Delft The Netherlands Phone: (31) 15-78 60 57 Telex: 38151 butud nl Electronic mail address on : - UUCP: !mcvax!dutentb!kishan - NA net : na.jainandunsing@SU-SCORE REGISTRATION INFORMATION WORKSHOP ADDRESS : Ecole d'ete de Physique Theorique (Summer School of Theoretical Physics) Cote des Chavants 74310 Les Houches France Phone : (33) 50 54 40 69 Name : __________________________________________ Institute : _____________________________________ Address : _______________________________________ _________________________________________________ _________________________________________________ Phone : __________________ Electronic mail : __________________________ Please, mark appropriate items. I have paid my registration fee for the INTERNATIONAL WORKSHOP ON SVD AND SIGNAL PROCESSING (all payments in Dutch guilders : DFL) : 1. DFL 580 (if paid before 1 September 1987) 2. DFL 680 (if paid at the workshop) 1. by bank transfer to K. Jainandunsing inz. Int. Workshop on SVD and Signal Processing AMRO bank, Mekelweg/hoek Chr. Huygensweg, Delft, The Netherlands Account nr.: A.P.R. 49 71 23 207 2. by bank check to Workshop Secretariat c/o : K. Jainandunsing Dept. of Electr. Eng. Delft Univ. of Tech. Mekelweg 4 2628 CD Delft The Netherlands Sex : 1. Male 2. Female Please, reserve a room at the : 1. School, all double rooms, at DFL 52 per room per day. A. I would not mind sharing my room with a roommate. a. I prefer to share my room with (print name of roommate) ___________________ b. I have no preference for a specific roommate. B. I prefer not to share my room. 2. Hotel Peter Pan (100 meters from the School) all double rooms at DFL 64 per room per day. 3. Hotel Labarme (2 kilometers from the School), all double rooms at DFL 45 per room per day. 4. I will arrange for accomodation independently. I will attend the workshop : 1. alone 2. with my spouse IMPORTANT : 1. Mail the completed registration form and a copy of the bank transfer order or bank check to the Workshop Secretariat : Workshop Secretariat c/o : K. Jainandunsing Dept. of Electr. Eng. Delft Univ. of Tech. Mekelweg 4 2628 CD Delft The Netherlands 2. Room reservations will be done on a "first registered, first served" base, due to limited space. 3. The registration fees include meals, social evening and proceedings. Rooms are not included. Registrants will have to pay for their rooms at check-in time at the workshop. _ _ _ _ _ _ _ _ _ _ _ _ NOTE: The rest of part one contains (a lengthy) workshop program. - - - - - - - - - - - - >From Jan Biemond and Johns Woods FIFTH WORKSHOP ON MULTIDIMENSIONAL SIGNAL PROCESSING September 14 - 16, 1987 Leeuwenhorst Congress Center Noordwijkerhout, The Netherlands Sponsored by IEEE ASSP Society and EURASIP TECHNICAL PROGRAM SUMMARY ___ Invited Address A.J. Berkhout Three Dimensional Signal Processing in Seismic Exploration ___ Geophysical Signal Processing Seismic Event Detection Using the Eigen Structure of Multidimensional Wavefields. F.U. Dowla Identification of Underground Nuclear Explosions using Wavenumber-Time Finger Prints. W. Hanka Toward Optimum One-way Wave Propagation. O. Holberg Geophysical Transmission Tomography. J.H. Justice, A.A. Vassiliou, D.T. Nguyen Three Dimensional Target Oriented Seismic Migration. N.A. Kinneging, G. Blacquiere, H.L.H. Cox Pre- and Poststack Migration Velocity Analysis of Noisy Seismic Data. B. Milkereit, C. Spencer Nonlinear Inversion of Seismic Data. A. Tarantola ___ 2-D Digital Filtering Multirate Processing of Dimensionally-Reduced Multidimensional Signals. J.P. Allebach A New Approach to Least Squares Design of 2-D FIR Digital Filters. C. Charalambous, A.Y. Nashashibi The Differential Correction Algorithm from Simultaneous Design in Magnitude and Group-Delay of 2D IIR Transfer Functions. G. Cortelazzo, G.A. Mian Design of Multidimensional Digital Filters with Closed Loss Behavior. A. Fettweis, M. Pazold Stabilization of 2-D Transfer Functions through Radon Projections and 1-D Spectral Factorization. J. le Roux Optimal 2-D FIR Digital Filters without Multipliers. P. Siohan Two-Dimensional Self-Tuning Filters and Smoothers. P.E. Wellstead and G.R. Wagner Multi/Channel Scalar Recursive in Space Least-Squares Lattice Algorithms and Applications. Xing L. and P. Gaillard Multi/Channel Scalar Levison Algorithm, Lattice Structure and Factorisation. Xing L. and P. Gaillard ___ Image Filtering Threshold Filters - A Formalism to Describe and Analyse a Class of Nonlinear Filters. R. van den Boomgaard Hierarchical Linear Fit Filtering: A Method for Processing Image Segments. P. Burt Sparse Aperture Image Processing Problems. D.E. Dudgeon Imprecision of Measurements in Computer Vision handled by Fuzzy Set Theory. G.H. Granlund A Set of New Texture Operators, Invariant to Translation. I. Herlin A Tensor Representation of Local Structure. H. Knutsson Mathematical Morphology for Grey-Tone Functions. J.B.T.M. Roerdink Contours as 1-D signals on 2-D grids. A.W.M. Smeulders Morphologic Image Segmentation. R.N. Strickland Low-Level Image Processing by Max-Min Filters. P.W. Verbeek, H.A. Vrooman and L.J. van Vliet Landscape Texture Segmentation by Multidimensional Feature Extraction from Rank-Filtered Images. P. Zamperoni ___ Invited Address David C. Munson, Jr A Survey of Sensor Array Imaging ___ Computed Imaging I Processing of 2D-Nuclear Magnetic Resonance Time Domain Signals. R. de Beer, D. van Ormondt, W.W.F. Pijnappel, Th.J.L. Bosman Multidimensional Signal Processing Techniques in Magnetic Resonance Imaging. E. Feig Real Time Imaging of Speech (Articulator) Movements. J. Hohne, P. Schonle, B. Conrad Combined Spatial and Temporal Filtering of Epicardial Marker-Positions by Singular Value Decomposition. A.M.M. Muijtjens, S. Roos Maximum Entropy Power Spectrum Estimation in the Spatial Electroencephalogram. R.B. Paranjape, Zoly J. Koles Thallium-201 Tomography Developments Towards Quantitative Analysis. A.E. Reijs, J.H. Reiber, P. Fioretti, J.J. Gerbrands, M.L. Simons, P.P. Kooy Enhanced Ect Images Using Projection Data Filtering. B.J. Sullivan, J.A. Hayes, S.A. Laico ___ Image Coding I: Vision and Source Models, Intra Frame Coding Orthogonal Pyramid Transforms for Image Coding. E.H. Adelson, E. Simoncelli, R. Hingorani Coding Images Using 2-D Non Stationary Linear Predictive Filters Excited by 2-D Multipulse Fields. M. Barlaud, L. Blanc-Feraud, J. Menez Lassy Redundancy Reduction by the Use of a Decomposition of the Image into n Components. R.S. Choras A Mathematical Model for Hierarchical Image Encoding. N. Garcia, C. Munoz, A. Sanz Object-Based Descriptions of Motion for Prediction and Interpolation in TV-Sequences. A. Gerhard A New Spatio-Temporal Threshold Model of Achromatic Human Vision and Its Implications for TV Signal Coding. B. Girod On the Relevance of Spatio-Temporal Information in Images. G.H.L.M. Heideman, H.E.P. Tattje Recursive Quadrature Mirror Filters for Image Coding. T. Kronander Contour-Texture Oriented Advanced Intraframe Coding. M. Kunt, C. Horne Motion-Stereo Postprocessing of Low-Frame-Rate Aerial Image Sequences. R. Lippmann Scale-Space Coding and its Perceptual Relevance. J.B.O.S. Martens and G.M.M. Majoor Adaptive Intraframe Grayscale Coding on a PC-AT. J.L. Mitchell, W.B. Pennebaker, C.A. Gonzales Use of 3-D Segmentation in Image Coding. S.A. Rajala Reversible Compression of Medical Images. M.A. Viergever On the Statistical Distribution of Image Sub-Bands. P.H. Westerink, J. Biemond, D.E. Boekee --- Multidimensional Spectrum Estimation Targets Detection - Optimum Resolution Algorithm. A. Abo-Zena Block Toeplitz Approximation and 2-D Harmonic Retrieval. M.H. Hayes and D.M. Wilkes 2-D Maximum Entropy Extensions. S.R. Parker Sampling Techniques for Multidimensional Spectrum Estimation. D.P. Petersen, T.N. Truske Can Extra Unknown Parameters Hurt? S.U. Pillai and F. Haber. L Normed Linear Predictive Spectral Estimation. J.E. Schroeder Multichannel 2-D Spectrum Analysis. C.W. Therrien On 2-D Adaptive Lattice Algorithms. H. Youlal, M. Janati-I, M. Najim ___ Invited Address Jorge L.C. Sanz Parallel Computing and Machine Vision ___ Motion Estimation A Pel-Recursive Wiener-Based Displacement Estimation Algorithm. J. Biemond, D.E. Boekee, L. Looijenga Differential Displacement Estimation Based on a Two-dimensional Quadratic Image Model. M. Bierling Robust Estimation of 3-D Motion Parameters from Corresponding Points in 2-D Views. C. Braccini, A. Grattarola, S. Zappatore Optical Flow Field Estimation by Modified Block Matching. A. von Brandt, W. Tengler Optical Flow Calculation from Feature Point Analysis through an Automatic Segmentation Process. D.D. Guisto, S.B. Serpico, G. Vernazza Tree Motion Estimation Algorithm. M.R. Haghiri Image Segmentation into Areas of Uniform Mapping Parameters. M. Hotter Motion Estimation from Stereo Sequences Using Orthographic-View Algorithms. T.S. Huang Detecting 3-D Geometric Position and Motion Parameters of Rigid Planar Patch. Jinzong Li Computation, Data and Analysis on 3-D Motion and Geometric-Parameters of Rigid Planar Patches from Two Consecutive Real-World Images. Jinzong Li Object segmentation from Optical Flow Field. W. Tengler, A. von Brandt Estimation of Motion and Structure of 3-D Objects from a Sequence of Images. G. Tziritas ___ Computed Imaging II Inverse Problems in Signal Processing. S. Alliney Images of Black Boxes with Multiple Stochastic Output. E.G.J. Eijkman Model Based Imaging for Nondestructive Inspection. J.P. Fitch Super-resolution Reconstruction: The Role of Constraints Applied to Inverse Transforms. E.M. Haacke, S.H. Izen, Z.T. Liang 3-D Tomographic Reconstruction from Limited Cone-Beam Views. K. Hanson, D.M. Saint-Felix, A. Rougee. Limited Data Imaging Using a Constrained Natural Pixels Reconstruction Method. J-P. Hugonin, N. de Beaucoudrey, L.Garnero Multidimensional Inverse Scattering within the Born or Physical Optics Approximation. K.J. Langenberg Tomographic Image Reconstruction from Discretely Viewed Projection. T. Saito ___ Restoration and Enhancement Adaptive Image Enhancement Using Random Models. A. Abutaleb Image Restoration Using Reduced Order Models. D. Angwin, H. Kaufman Simultaneous Removal of Mixed Noise in Images. R. Bernstein Fast 2-D Kalman Filters for Image Restoration. G. Demoment, X.C. Du, D. Saint-Felix Interframe Regularization in Iterative Restoration of Distorted Image Sequences. J.N. Driessen, R.L. Lagendijk, J. Biemond Fast Algorithms for the Reconstruction of Linearly Degraded Images. M.H. Hayes VLSI Implementation of an Iterative Image Restoration Algorithm. A.K. Katsaggelos On the Compensation of the Distortion of Optical Systems. K. Kroschel Iterative Restoration of Noisy Non-linearly Transformed Blurred Images. R.L. Lagendijk, J. Biemond, D.E. Boekee An Iterative Method for Restoring Noisy Images. S.D. Morgera, P. Lie Chin Cheong Regularized Image Restoration Using the Theory of Convex Projections. M.I. Sezan, A.M. Tekalp Decision-Directed Restoration of Space-Variant Image Blurs via 2-D Multiple Model Kalman Filtering. A.M. Tekalp, H. Kaufman Enhancement of 'Burn In' Effects in Video Images. T.J. Uhl Compound Markov Models for Image Restoration. J.W. Woods Invited Address Ian T. Young Quantitative Image Analysis ___ Segmentation and Processing A Modified Ternary Radioelement Mapping Technique and its Application to the South coast of Newfoundland. H.J. Broome, J.M. Carson, J.A. Grant, K.L. Ford A Pyramid Architecture for Machine Vision. P. Burt 3-D Object Recognition by Multiple Views. V. Cappellini, R. Casini, M.T. Pareschi, C. Raspollini Identification and Localisation a Variety of Plants in a Machine Vision System. R.S. Choras A Rapid Angiographic Technique to Measure Relative Coronary Blood Flow. P.J.H. van Cuyck, J. van Ommeren, F. Zijlstra, P.W. Serruys, J.H.C. Reiber Integration of SIMD and MIMD Computer-Architectures for Image Processing. W. Duinker Automated Detection of Left Ventricular Boundaries from 35mm Contrast Cineangiograms. A.C.M. Dumay, P.J. van Leeuwen, J.H.C. Reiber Segmentation of Slar-Imagery Guided by A Priori Knowledge. J.J. Gerbrands, E. Backer, P. Hoogeboom, J. Kleijweg Image Processing with Personal Computers. F.C.A. Groen, R.J. Ekkers, R. de Vries A Two Dimensional Moment Generating VLSI Chip. M. Hatamian Image Quality in Digital Subtraction Angiography. C.H. Slump Human-Machine Interaction for Image Understanding. G. Tascini ACUity: Image Analysis for the Personal Computer. I.T. Young, R. Roos ___ Image Coding II: Interframe Coding, Motion Compensated Filtering and Prediction, VLSI Architectures Progressive-PCM-Codec using Raster Interleaving. H. Amor, T. Komarek Two-Component Coding Applied to Full-Motion, Low Bit-Rate Video. M.J. Biggar, A.G. Constantinides Architectural Strategies for High Speed Image Processing. F. Catthoor, H. de Man HDTV De-Interlace by Interframe Algorithms. B. Choquet, D. Pele, P. Siohan Hybrid Interpolative and Predictive Coding of Broadcast Quality Television Pictures. N.K Lodge, R.J.Clarke Design Considerations of Inter/Intraframe Transform Coders. K. Fazekas VLSI Architectures for Image Coding. A. Ligtenberg Segmented Image Coding for High Definition Television. O.J. Morris The Evaluation of Filtering Inside the Hybrid DPCM/Transform Coding Loop. R.H.J.M. Plompen Interframe Quadratic Predictors. G. Ramponi HDTV Standards Conversion. T. Reuter Inter-Intraframe Adaptive Block Coding Scheme. J. Ronsin Towards VLSI Architecture and Technologies for Motion-Compensated High Definition Television: Architectural, Technological and Algebraic Aspects. M. Sablatash A Transmission System for Sequentially Scanned HDTV Pictures. R. Schafer Adaptive Signal Processing for Digital HDTV 280 MBIT/s Transmission. G. Schamel ___ Multidimensional Signal Restoration and Modeling Signal Recovery from the Generalized Phase of Orthogonal or Unitary Transforms. Ph.W. Besslich and J. Wollnack A New Approach to the Triangular Sampling Theorem. H.P.A. Haas Multi-Dimensional Equalizers/Echo Cancellers for Cross-Talk Cancellation. M. Honig, B. Gopinath Fast Algorithms for 2-D Noncausal Zero-Phase AR Models with Applications in Image Restoration and Coding. V.K. Ingle, A.L. Kok, D.G. Manolakis Experimental Physics Inverse Problems. E.L. Kosarev Some Recent Advances in Multidimensional Processing of Borehole Measurements to Estimate Formation Dip. D. Rossi Application of Adaptive Signal Processing in Hydroacoustic Communications. G.H. Sandsmark Restoration of Stochastic Degradations. H.J. Trussell A Multi-Scale Estimation Approach to Multidimensional Inversion. A.S. Willsky Signal Reconstruction Algorithms from Partial Information for Acoustic Image Applications. B. Yegnanarayana, C.P. Mariadassou, P. Saini ___ Invited Address Hans Georg Musmann Advances in Image Coding ___ Invited Address Russell M. Mersereau Iterative Methods for Image Deblurring ____ End of issue 6 part 1 E-LETTER on Systems, Control, and Signal Processing ISSUE No. 6: 24 August, 1987 Part Two of Two Parts Editors: Bradley W. Dickinson Dept. of Electrical Engineering Princeton University Princeton, NJ 08544 bradley@princeton.edu Eduardo D. Sontag Dept. of Mathematics Rutgers University New Brunswick, NJ 08903 sontag@fermat.rutgers.edu _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ >From Jan H. van Schuppen SYSTEM AND CONTROL THEORY AT THE CENTRE FOR MATHEMATICS AND COMPUTER SCIENCE IN AMSTERDAM, THE NETHERLANDS PUBLICATIONS JANUARY - JUNE 1987 Copies may be obtained by writing to the author(s). CWI = Centre for Mathematics and Computer Science. J.W. POLDERMAN (1987). A state space approach to the problem of adaptive pole assignment. Report OS-R8704, CWI, Amsterdam. J.W. POLDERMAN (1987). Adaptive exponential stabilization of a first order continuous-time system. Report OS-R8705, CWI, Amsterdam. S.A. SMULDERS (1987). Modelling and filtering of freeway traffic flow. Report OS-R8706, CWI, Amsterdam. P.R. DE WAAL (1987). Performance analysis and optimal control of an M/M/1 queue with impatient customers. Report OS-R8713, CWI, Amsterdam. POSTAL ADDRESS: Centre for Mathematics and Computer Science P.O. Box 4079 1009 AB Amsterdam The Netherlands - - - - - - - >From Bradley W. Dickinson and Eduardo D. Sontag, Managing Editors, Mathematics of Control, Signals, and Systems The first issue of this new journal, to be published by Springer-Verlag, is due to appear in December, 1987. A call for papers has appeared in an earlier issue of this newsletter, and one will be sent to anyone requesting it from the editors. Subscription information will be available during the summer. The following is a list of papers accepted for publication as of mid August: Root Locations of an Entire Polytope of Polynomials: It Suffices to Check the Edges A.C. Bartlett, C.V. Hollott, and H. Lin Minimal Polynomial Realizations H. Bartosiewicz Control Problem Structure and the Numerical Solution of Linear Singular Systems Stephen L. Campbell Error Bounds for the Method of Alternating Projections S. Kayalar and H.L. Weinert Controllability on Classical Lie Groups F. Silva Leite and P.E. Crouch When Is a Controller $H sup inf$-Optimal? Kathryn E. Lenz, Pramod P. Khargonekar, and John C. Doyle Probability Densities for Conditional Statistics in the Cubic Sensor Problem Daniel Ocone How Violent Are Fast Controls? Thomas I. Seidman Decentralized Detection by a Large Number of Sensors John Tsitsiklis New Results on the Relationship between Dynamic Programming and the Maximum Principle R.B. Vinter Equivalent Stochastic Control Problems H.S. Witsenhausen Modular Supervisory Control of Discrete Event Systems W.M.Wonham and P.J. Ramadge - - - - - - - - NOTE: The rest of part two contains a lengthy listing of PIC computer programs. - - - - - - - - >From Jack Rugh PIC FILES FOR CLASSICAL CONTROL SYSTEM DIAGRAMS An undergraduate student at Johns Hopkins, Frank Hsu, has written PIC programs to generate 18 standard block diagrams that arise in classical control. (PIC is the diagram-generating preprocessor for the UNIX typesetting system.) Each file begins with a .PS line, and ends with .PE. The optional numerical argument to .PS adjusts the size of the diagram, and this can be modified to taste. It is assumed that the EQN delimiter is $ in setting the labels. These labels are changed easily by editing the file. These diagrams have been tested only on the Eroff version of Documentors Work Bench supplied by Elan Corporation, but they should run on other Unix systems. The 18 files are concatenated below. .PS 2 Comp:[ A:arrow "$r(t)$ +" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .60i at B.s - (0,.60) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "$G(s)$" line right arrow "$ c(t)$" above move left 0.5i line down .75i line from last [].D to last line.s .PE .PS Comp:[ A:arrow "r(t) +" above circlerad = .15i B:circle C:arrow "e(t)" above D:arrow up .60i at B.s - (0,.60) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" F:move right .2i then up .25i;"$d(t)$" G:line up invis .35i at B.n -(0, .65i) ] arrow right "$ c(t)$" above move left 0.5i line down .75i line from Comp.D to last line.s .PE .PS Comp:[ A:arrow "r(t) +" above circlerad = .15i B:circle C:arrow "e(t)" above D:arrow up .60i at B.s - (0,.60) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line invis up .35i at B.n -(0, .65i) H:box wid boxht at D.n +(0,boxht/2) "$space 0 D(s)$" H1:box invis at G.s -(0,boxht/2) I:arrow from H.t +(0,.35i) to H.t I1:line invis from H1.b -(0,.35i) to H1.b "$d(t)$" at I.n +(.2i,.1i) "$~~~~$" at I1.s +(.2i,-.1i) ] arrow right "$ c(t)$" above move left 0.5i line down .75i line from Comp.D to last line.s .PE .PS 2.5 Comp:[ A:arrow "$r(t)$ +" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .85i at B.s - (0,.85) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "$G(s)$" line right arrow "$ c(t)$" above move left 0.5i line down 1.0i arrow left box "$H(s)$" line from last box.w to last [].D .PE .PS box "$G(s)$" Comp:[ A:arrow "$r(t)$ +" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .85i at B.s - (0,.85) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" F:move right .2i then up .25i;"$d(t)$" G:line up invis .35i at B.n -(0, .65i) ] arrow "$ c(t)$" above move left 0.5i line down 1.0i arrow left 1.0i box "$H(s)$" line from last box.w to Comp.D .PE .PS Comp:[ A:arrow "$r(t)$ +" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .85i at B.s - (0,.85) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line invis up .35i at B.n -(0, .65i) H:box wid boxht at D.n +(0,boxht/2) "$space 0 D(s)$" H1:box invis at G.s -(0,boxht/2) I:arrow from H.t +(0,.35i) to H.t I1:line invis from H1.b -(0,.35i) to H1.b "$d(t)$" at I.n +(.2i,.1i) "$~~~~$" at I1.s +(.2i,-.1i) ] arrow "$ c(t)$" above move left 0.5i line down 1.0i arrow left 1.0i box "$H(s)$" line from last box.w to Comp.D .PE .PS 3 box "${G sub c}(s)$" Comp:[ A:arrow "$r(t)$ +" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .60i at B.s - (0,.60) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i arrow box "$G(s)$" line right arrow "$ c(t)$" above move left .5i line down .75i line from last line.s to last [].D .PE .PS Comp:[ A:arrow "$r(t)$ +" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .60i at B.s - (0,.60) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" arrow box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" F:move right .2i then up .25i;"$d(t)$" G:line up invis .35i at B.n -(0, .65i) ] arrow "$ c(t)$" above move left .5i line down .75i line from last line.s to Comp.D .PE .PS Comp:[ A:arrow "$r(t)$ +" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .60i at B.s - (0,.60) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" arrow box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line invis up .35i at B.n -(0, .65i) H:box wid boxht at D.n +(0,boxht/2) "$space 0 D(s)$" H1:box invis at G.s -(0,boxht/2) I:arrow from H.t +(0,.35i) to H.t I1:line invis from H1.b -(0,.35i) to H1.b "$d(t)$" at I.n +(.2i,.1i) "$~~~~$" at I1.s +(.2i,-.1i) ] arrow "$ c(t)$" above move left .5i line down .75i line from last line.s to Comp.D .PE .PS Comp:[ A: line "$r(t)$" above A1:arrow right .25i "+" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .60i at B.s - (0,.60) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" Adderf:[ A:arrow right circlerad = .15i B:circle C:arrow right D:arrow down .85i at B.s + (0,1.15i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line up invis .85i at B.n -(0, 1.15i) ] box "$G(s)$" line right arrow "$ c(t)$" above move left .5i line down .75i line from last line.s to Comp.D line up 1.0i at Comp.A1 arrow right 1.0i box "$F(s)$" line from last box.e to Adderf.D .PE .PS Comp:[ A: line "$r(t)$" above A1:arrow right .25i "+" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .60i at B.s - (0,.60) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" Adderf:[ A:arrow right circlerad = .15i B:circle C:arrow right D:arrow down .85i at B.s + (0,1.15i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line up invis .85i at B.n -(0, 1.15i) ] box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" F:move right .2i then up .25i;"$d(t)$" G:line up invis .35i at B.n -(0, .65i) ] arrow "$ c(t)$" above move left .5i line down .75i line from last line.s to Comp.D line up 1.0i at Comp.A1 arrow right 1.0i box "$F(s)$" line from last box.e to Adderf.D .PE .PS Comp:[ A: line "$r(t)$" above A1:arrow right .25i "+" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .60i at B.s - (0,.60) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" Adderf:[ A:arrow right circlerad = .15i B:circle C:arrow right D:arrow down .85i at B.s + (0,1.15i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line up invis .85i at B.n -(0, 1.15i) ] box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line invis up .35i at B.n -(0, .65i) H:box wid boxht at D.n +(0,boxht/2) "$space 0 D(s)$" H1:box invis at G.s -(0,boxht/2) I:arrow from H.t +(0,.35i) to H.t I1:line invis from H1.b -(0,.35i) to H1.b "$d(t)$" at I.n +(.2i,.1i) "$~~~~$" at I1.s +(.2i,-.1i) ] arrow "$ c(t)$" above move left .5i line down .75i line from last line.s to Comp.D line up 1.0i at Comp.A1 arrow right 1.0i box "$F(s)$" line from last box.e to Adderf.D .PE .PS 3 Comp:[ A:arrow "$r(t)$ +" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .85i at B.s - (0,.85) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" arrow box "$G(s)$" line right arrow "$ c(t)$" above move left .5i line down 1.0i line left 1.0i box "$H(s)$" line from last box.w to last [].D .PE .PS Comp:[ A:arrow "$r(t)$ +" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .85i at B.s - (0,.85) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" arrow box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" F:move right .2i then up .25i;"$d(t)$" G:line up invis .35i at B.n -(0, .65i) ] arrow "$ c(t)$" above move left .5i line down 1.0i arrow left 2.0i box "$H(s)$" line from last box.w to Comp.D .PE .PS Comp:[ A:arrow "$r(t)$ +" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .85i at B.s - (0,.85) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" arrow box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line invis up .35i at B.n -(0, .65i) H:box wid boxht at D.n +(0,boxht/2) "$space 0 D(s)$" H1:box invis at G.s -(0,boxht/2) I:arrow from H.t +(0,.35i) to H.t I1:line invis from H1.b -(0,.35i) to H1.b "$d(t)$" at I.n +(.2i,.1i) "$~~~~$" at I1.s +(.2i,-.1i) ] arrow "$ c(t)$" above move left .5i line down 1.0i arrow left 2.0i box "$H(s)$" line from last box.w to Comp.D .PE .PS Comp:[ A: line "$r(t)$" above A1:arrow right .25i "+" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .85i at B.s - (0,.85i) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" Adderf:[ A:arrow right circlerad = .15i B:circle C:arrow right D:arrow down .85i at B.s + (0,1.15i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line up invis .85i at B.n -(0, 1.15i) ] box "$G(s)$" line right arrow "$ c(t)$" above move left .5i line down 1.0i line left 1.5i box "$H(s)$" line from last box.w to Comp.D line up 1.0i at Comp.A1 line right 1.0i box "$F(s)$" line from last box.e to Adderf.D .PE .PS Comp:[ A: line "$r(t)$" above A1:arrow right .25i "+" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .85i at B.s - (0,.85i) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" Adderf:[ A:arrow right circlerad = .15i B:circle C:arrow right D:arrow down .85i at B.s + (0,1.15i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line up invis .85i at B.n -(0, 1.15i) ] box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" F:move right .2i then up .25i;"$d(t)$" G:line up invis .35i at B.n -(0, .65i) ] arrow "$ c(t)$" above move left .5i line down 1.0i line left 1.75i box "$H(s)$" line from last box.w to Comp.D line up 1.0i at Comp.A1 line right 1.0i box "$F(s)$" line from last box.e to Adderf.D .PE .PS Comp:[ A: line "$r(t)$" above A1:arrow right .25i "+" above circlerad = .15i B:circle C:arrow "$e(t)$" above D:arrow up .85i at B.s - (0,.85i) E:move right .1i then down .1i;"-" ] box invis at last [].B ht 1.0i wid 1.3i box "${G sub c}(s)$" Adderf:[ A:arrow right circlerad = .15i B:circle C:arrow right D:arrow down .85i at B.s + (0,1.15i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line up invis .85i at B.n -(0, 1.15i) ] box "$G(s)$" Dist:[ A:arrow right circlerad = .15i B:circle C:line right D:arrow down .35i at B.s + (0,.65i) D1:"+" at A.e +(-0.05, 0.1i) E:move right .1i from D.s then up .1i;"+" G:line invis up .35i at B.n -(0, .65i) H:box wid boxht at D.n +(0,boxht/2) "$space 0 D(s)$" H1:box invis at G.s -(0,boxht/2) I:arrow from H.t +(0,.35i) to H.t I1:line invis from H1.b -(0,.35i) to H1.b "$d(t)$" at I.n +(.2i,.1i) "$~~~~$" at I1.s +(.2i,-.1i) ] arrow "$ c(t)$" above move left .5i line down 1.0i line left 1.75i box "$H(s)$" line from last box.w to Comp.D line up 1.0i at Comp.A1 line right 1.0i box "$F(s)$" line from last box.e to Adderf.D .PE _ _ _ _ _ end of issue 6, part 2