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ABCDSSSS_neg state_mat input_mat output_matfeedforward_matsystems r9test_StateSpace_negationrEs[R2r(#$$AR2r(#$$AR2r(RH-..AR2r(RH-..A Aq!Q  BSFQ!R)**I2wI"a ""JaSkkO  9j/ J JF 6B88%&&B88%&&RC":C":C":'((RC":C":C":'(( ) ) ) ) ) ) 76B88%&&Q4+&&Ar7)$$B4&>>  # # # # # # 7b====z] v % % % % % %r8c  tttgttdzdzgttdzdz gtdtzg}ttttzgttdztdz zgttdztdzz gtttz g}|tdittdggtdggtdggtdggksJ|tditttdzggtdggtdtdzz ggttdz ggksJ|ttitttggttdzdzggttdzdz ggtdtzggksJ|tt ttittt tzggtt dztdz zggtt dz tdzzggtt tz ggksJttztz}ttdzzttzztz}tt|gt|g}ttdtzdzggtdtdzzd tzzdzggtdggtdgg}ttd tzd zggtd tdzzd tzzdzggtdggtdgg}|tdtdtdtd tdi|ksJ|tdtdtdtd tdi |ksJ| |ksJdS)Nr)r*r.r-$rrr,rrrrr)r!rr6rDrrrNrOrJrIrRrMrLr)rurvrrGexpectexpect_s r9!test_SymPy_substitution_functionsrgsV VQC[[&1q51*"6"61qz8J8JFTUVWTWSXMM Z ZC VQUG__fq1uq1uo->&?&?APQSTPT AVAVX^`ade`e_fXgXg h hC 88QqE??j!vQSPTvX^ac`d_eXfXfgg g g g g 88QqE??j!a% ):):FQC5MM6TUXY[\X\T\S]R^K_K_agjknojoiphqararss s s s s <<1  6A3%==&AEA:,"8"8&1a4!8*:N:NPVYZ[\Y\X]W^P_P_`` a a a a <<1a # #6AE7)$$fAA.?-@&A&A6QPQTETUWXTXL>JZC[C[]cfgjkfkeldm]n]noo p p p p AB AqD2a4" B62$<<..A 1q {++Va1fqslQ6F5G4H-I-I6TUSVRW==Z`cdbeafZgZg h hF#a%#+00&3q!t8c!e;Kc;Q:R9S2T2TV\_`^a]bVcVceknomplqererssG 662q"aQAr15 6 6& @ @ @ @ 662q"aQAr15 6 6 < < > >' I I I I <<>>W $ $ $ $ $ $r8c tddgddgg}tddg}tddgg}tdg}t||||}|t}| t}|dd}|dd}|tdtzd ztdzd tzzd ztksJ|j|j ksJ|j|jksJtgd gd gdg} tgdgdgdg} tgdgdgdg} tgdgdgdg} t| | | | } | t}|ddtdtdzzdtdzzzdtzz dzdtdzzdtdzzzdtzz dz tksJ|ddtdtdzzdtdzzzdtzz dz dtdzzdtdzzzdtzz dz tksJ|ddtdtdzzd tzzdz dtdzzdtdzzzdtzz dz tksJtt}|ttddgtdz d!tztzggtdgdggtddggtdggksJ|tddtksJttd"dS)#Nrrrr.r*r-r)rr;r0r2)r^rr.)r)rr))r*r)r))r1rr))rr)r*)r*r*r.)rr)r)rr*r))r)rr*)r*r*r)r)r)r))r.r*r)rrg%@rr1g@g@g @rrctttdzztdzzttzz tzttdzz tt Sr)rrOr6rDrNrgr!r7r8r9r:z!test_conversion..sJ/!Q$A !0Ca0GQPQTSTUU]]^hiir8) rr!rgrr6rFrGrVrr r(rS)rqrrrsrtrtm1tm2rVrWrrrrrtm3rs r9test_conversionrs "bAr7# $ $B AB !Q  B B BB # #B **% & &C 3--( ) )C a&)C a&)C "2a4"9adQqSj1na@@ @ @ @ @ 7swh     7cg      9995 6 6B iii3 4 4B IIIyyy1 2 2B IIIyyy1 2 2B BB # #B **% & &C q6!9(QTC1H)>>>>>2R+S+S S S S S  $ $ & &6C5Q%.+A+A6E7WZT[J\C]C]*^ ^ ^ ^ ^  $ $ & &6A3*+=+=*> > > > > !Q!Q ! !B !qc  B !Q  B !B RR $ $C VaVaV,--vsQCj/A/A6Aq6(CSCSU[^_]`\aUbUb c cC **S//C >S^cn< < < < < >S^cn< < < < < ?co? ? ? ? ?  v|||\\\<<rst((((((444444444444 """"""%%%%%%========999999999999$$$$$$((((((++++++,,,,,,''''''>>>>>>>>>>WWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWW('''''.5g7//+1aAq!Q3b!AHJBB>BBBBBBBBq!Q$41,r1u4a88q!Qr!taxA1--^9^9^9B^8^8^8@111D(6(6(6V    & & &   (A(A(AV)@)@)@X;;;|@i@i@iF+C+C+C\2E2E2EjEEEP1W1W1Wh333333l050505f###J555@$&$&$&N>>>D%*%*%*P!>!>!>FfJfJfJP$W$W$WL \ \ \ [ [ [ \ \ \ ? ? ? > > > k:k:k:X?(?(?(B & & &D%%%0*k*k*kZ*>*>*>*>*>r8