Solution 6.8.4.5 Time (sec.) A mp li tu d e Step Response 0 0.5 1 1.5 2 2.5 3 0 0.2 0.4 0.6 0.8 1 1.2 1.4 Stays inside for good t k t k+1 Figure 1: Worst case in estimating t s Figure 1 shows the worst case, where the response enters the channel used to de ne t s .Thenwewould havetouse t k+1 .Hence, our maximum error in estimating t s is T = t k+1 ;t k = (k +1) ! n p 1; 2 ; k ! n p 1; 2 =  ! n p 1; 2 : Thus, T will depend on both ! n and . 1