BJBABLBABKBABF BYCXCVD9D6CTD7 BDB8 BEB8 CPD2CS BF D7CWD3DBD8CWCTD6D3D3D8 D0D3CRCX CUD3D6 BZ CR BZ D4 B4D7B5BP BHC3B4D7 B7BHB5 D7B4D7 B7 D4B5B4D7 B7BFBCB5 BYD3D6 DE BPBEBNBFB8 CPD2CS BG D6CTD7D4CTCRD8CXDACTD0DDBA CCCWCT D0D3CRCX DBCTD6CT CSD6CPDBD2 D9D7CXD2CV D8CWCT CP D7CWD3D6D8 C5BTCCC4BTBU D6D3D9D8CXD2CTBM CPBPBH CQBPBFBC D4BPBE CVBPDED4CZB4CJB9CPCLB8CJBC B9D4 B9CQCLB8BHB5 CZBPD0CXD2D7D4CPCRCTB4BCB8BDBCBCB8BGBCBCB5BN CJCAB8C3CLBPD6D0D3CRD9D7B4CVB8CZB5 D4D0D3D8B4CAB8B3CZBAB3B5 D4D6CXD2D8B9CSCTD4D7 D4D6D3CQBJBLBKBFD6D0CPBACTD4D7 BTD7 CRCPD2 CQCT D7CTCTD2 D8CWCT D6D3D3D8 D0D3CRCX CPD6CT CP D4D6D3CVD6CTD7D7CXD3D2BA C7D9D6 D2CTDCD8 CVD3CPD0 CXD7 D8D3 ACD2CS D8CWCT CTDCCPCRD8 CVCPCXD2 D8CWCPD8 -30 -25 -20 -15 -10 -5 0 -20 -15 -10 -5 0 5 10 15 20 BYCXCVD9D6CT BDBM CAD3D3D8 C4D3CRD9D7 DE BPBE DDCXCTD0CSD7 AX CS BPBFCUD3D6D8CWCTD8CWD6CTCT CRCWD3CXCRCTD7 D3CU DEBA BYCXCVD9D6CT BG D7CWD3DBD7 D8CWCT CWD3DBDBCTCRCPD2D7CTCPD6CRCWCUD3D6D8CWCT D4D3CXD2D8 DBCWCTD6CT D8CWCT D6D3D3D8 D0D3CRD9D7 CRD6D3D7D7CTD7 D8CWCT CP CWD3D6CXDED3D2D8CPD0 D0CXD2CT D8CWD6D3D9CVCW AX BPBFD6CPCSBBD7BA BD -30 -25 -20 -15 -10 -5 0 -20 -15 -10 -5 0 5 10 15 20 BYCXCVD9D6CT BEBM CAD3D3D8 C4D3CRD9D7 DE BPBF -30 -25 -20 -15 -10 -5 0 -20 -15 -10 -5 0 5 10 15 20 BYCXCVD9D6CT BFBM CAD3D3D8 C4D3CRD9D7 DE BPBG BE x xx α θ 1 θ 2 θ 3 Re(s) Im(s) --p-30 -5 ω = 3 rad/s BYCXCVD9D6CT BGBM BVCPD0CRD9D0CPD8CXD3D2 D3CU CPD2CVD0CT CPD0D3D2CV D0CXD2CT AX BPBF CBD3D1CTDBCWCTD6CT CPD0D3D2CV D8CWCXD7 D0CXD2CT ABA0 AI BD A0AI BE A0 AI BF BP A0BDBKBC ? BM CCCWCT CUD3D0D0D3DBCXD2CV C5CPD8D0CPCQ D4D6D3CVD6CPD1 D7CTCPD6CRCWCTD7 CUD3D6 D8CWCT D7CPD8CXD7CUCPCRD8CXD3D2 D3CU D8CWCT CPD2CVD0CT CRD3D2CSCXD8CXD3D2 CPBPBH CQBPBFBC D4BPBE DCBPB9BF CSDC BPBCBABCBEBH CXBPBD DBCWCXD0CT DC BO BC D7BPDCB7CYB6BFBN D8D3D8CPD0CPD2CVB4CXB5 BPB4CPD2CVD0CTB4D7 B7BHB5B9CPD2CVD0CTB4D7B5B9CPD2CVD0CTB4D7 B7D4B5B9CPD2CVD0CTB4D7 B7 CQB5 B5 B6BDBKBCBBD4CXBN DCCXB4CXB5 BP DCBN DCBPDCB7CSDCBN CXBPCXB7BDBN CTD2CS BYD3D6 D4 BPBECPD2CSDC BP A0BEBMBEBHB8 ABA0 AI BD A0AI BE A0AI BF BP A0BDBKBCBMBF ? BN DBCWCXCRCWCXD7CRD0D3D7CTCTD2D3D9CVCW CUD3D6 D3D9D6 D4D9D6D4D3D7CTD7BA CCCWCT CRD3D1D4D3D7CXD8CT CVCPCXD2 D8CWCPD8 D4D0CPCRCTD7 D8CWCT CRD0D3D7CTCS D0D3D3D4 D4D3D0CTD7 CPD8 D7 BP A0BEBMBEBH A6CYBFCXD7 C3 CR BP CYD7CYCYD7 B7BECYCYD7 B7BFBCCY CYD7 B7BHCY CY D7BPA0BEBMBEBHB7CYBF BP BJBJBMBGBEBM CCCWCT CRD3D1D4CTD2D7CPD8D3D6 CVCPCXD2 CXD7 D3D2CT ACCUD8CW D3CU D8CWCXD7 D3CU BDBHBABGBKBA BF CFCTD2CTDCD8D7CTD8 D9D4 D8CWCT D6D3D3D8 CRD3D2D8D3D9D6BACFCXD8CW C3 BPBHC3 CR B8D8CWCTCRCWCPD6CPCRD8CTD6CXD7D8CXCR CTD5D9CPD8CXD3D2 CXD7 BDB7 C3B4D7 B7BHB5 D7B4D7 B7 D4B5B4B7BFBCB5 BPBCBN DBCWCXCRCWDBCTCRCPD2D6CTDBD6CXD8CT CPD7 D7 BF B7 B4BFBC B7 D4B5D7 BE B7BFBCDED7B7 C3D7B7BHC3 BPBCBM CFCTD2D3DBD6CTDBD6CXD8CT D8CWCXD7 CPD7 D7 BF B7BFBCD7 BE B7 C3D7B7BHC3 B7 D4D7B4D7 B7BFBCB5BPBCBM CCCWCTD2B8 CSCXDACXCSCXD2CV CQDD D7 BF B7BFBCD7 BE B7 C3D7B7BHC3 DBCT D3CQD8CPCXD2 BDB7 D4D7B4D7 B7BFBCB5 D7 BF B7BFBCD7 BE B7 C3D7B7BHCZ BPBC CFCTCPD6CTD2D3DBD4D3D7CXD8CXD3D2CTCS D8D3 CSD6CPDB D8CWCT D6D3D3D8 CRD3D2D8D3D9D6BABY D3D6 BE BOD4BPBGBAC1D2D8CWCXD7 CRCPD7CT DBCTCWCPDACT BDB7 D4D7B4D7 B7 BFBCB5 D7 BF B7BFBCD7 BE B7BJBJBMBGBEBHD7 B7BFBKBJBMBDBEBF BPBCBN D3D6 BDB7 DED7B4D7 B7BFBCB5 B4D7 B7BEBJBMBJBDB5B4D7 B7BDBMBDBH A0CYBFBMBHBHBKB5B4D7B7BDBMBDBH B7 CYBFBMBHBHBKB5 BPBC CCCWCT CUD3D0D0D3DBCXD2CV C5CPD8D0CPCQ D4D6D3CVD6CPD1 CSD6CPDBD7 D8CWCT D6D3D3D8 CRD3D2D8D3D9D6 DEBD BP BC DEBE BP B9BFBC D4BD BP B9BEBJB8BJBD D4BE BP B9BDBABDBHB7CYB6BFBABHBHBK D4BF BP B9BDBABDBHB9CYB6BFBABHBHBK CVBPDED4CZB4CJDEBD DEBECLB8CJD4BD D4BE D4BFCLB8BDB5 CZBPD0CXD2D7D4CPCRCTB4BEB8BGB8BGBCBCB5BN CJCABDB8C3BDCLBPD6D0D3CRD9D7B4CVB8CZB5 D4D0D3D8B4CABDB8B3CZBAB3B5 D4D6CXD2D8B9CSCTD4D7 D4D6D3CQBJBLBKBFD6CRCPBACTD4D7 CCCWCT D6D3D3D8 CRD3D2D8D3D9D6 CXD7 D7CWD3DBD2 CXD2 BYCXCVBABH BYD3D6 D4 BPBFB8D8CWCTCUD3D0D0D3DBCXD2CV C5CPD8D0CPCQ CRD3CSCT ACD2CSD7 DBCWCTD6CT D8CWCT D6D3D3D8 D0D3CRD9D7 CRD6D3D7D7CTD7 D8CWCT CWD3D6CXDED3D2D8CPD0 D0CXD2CT AX CS BPBFBA CPBPBH CQBPBFBC D4BPBF DCBPB9BG BG -30 -25 -20 -15 -10 -5 0 -3 -2 -1 0 1 2 3 BYCXCVD9D6CT BHBM CAD3D3D8 BVD3D2D8D3D9D6 CUD3D6 C3 BPBJBJBMBGBE CSDC BPBCBABCBD CXBPBD DBCWCXD0CT DC BO B9BF D7BPDCB7CYB6BFBN D8D3D8CPD0CPD2CVB4CXB5 BPB4CPD2CVD0CTB4D7 B7BHB5B9CPD2CVD0CTB4D7B5B9CPD2CVD0CTB4D7 B7D4B5B9CPD2CVD0CTB4D7 B7 CQB5 B5 B6BDBKBCBBD4CXBN DCCXB4CXB5 BP DCBN DCBPDCB7CSDCBN CXBPCXB7BDBN CTD2CS CFCTACD2CSD8CWCPD8 CUD3D6 DC BP A0BFBMBFBHB8 ABA0 AI BD A0AI BE A0AI BF BP A0BDBKBCBMBC ? BM CCCWCT CRD3D1D4D3D7CXD8CT CVCPCXD2 D8CWCPD8 D4D0CPCRCTD7 D8CWCT CRD0D3D7CTCS D0D3D3D4 D4D3D0CTD7 CPD8 D7 BP A0BEBMBEBHA6CYBFCRCPD2 CQCT CUD3D9D2CS DBCXD8CW D8CWCT C5CPD8D0CPCQ D4D6D3CVD6CPD1 CPBPBH CQBPBFBC D4BPBF D7BPB9BFBABFBH B7 CYB6BF C3BPB4CPCQD7B4D7B5B6CPCQD7B4D7 B7 CQB5B6CPCQD7B4D7 B7 D4B5 B5BBCPCQD7B4D7B7BHB5 CZCR BP C3BBBH BH CRBPCJBDCQC3BHB6C3CL D6D3D3D8D7B4CRB5 CTD2CS CFCT ACD2CS D8CWCPD8 C3 BP CYD7CYCYD7 B7BECYCYD7 B7BFBCCY CYD7 B7BHCY CY D7BPA0BFBMBFBHB7CYBF BP BDBCBIBMBFBLBN CPD2CS C3 CR BPBEBDBMBEBK CFCTD2CTDCD8D7CTD8 D9D4 D8CWCT D6D3D3D8 CRD3D2D8D3D9D6BACFCXD8CW C3 BPBHC3 CR B8DBCT D3CQD8CPCXD2 BDB7 D4D7B4D7 B7BFBCB5 D7 BF B7BFBCD7 BE B7 C3D7B7BHCZ BP BDB7 D4D7B4D7 B7BFBCB5 D7 BF B7BFBCD7 BE B7 BDBCBIBMBFBLD7 B7 BHBFBEBMBLBG BP BDB7 DED7B4D7 B7BFBCB5 B4D7 B7BEBIBMBJBJB5B4D7B7BDBMBIBDBIA0 CYBGBMBDBHBHB5B4D7B7BDBMBIBDBI B7 CYBGBMBDBHBHB5 CCCWCT CUD3D0D0D3DBCXD2CV C5CPD8D0CPCQ D4D6D3CVD6CPD1 CSD6CPDBD7 D8CWCT D6D3D3D8 CRD3D2D8D3D9D6 DEBD BP BC DEBE BP B9BFBC D4BD BP B9BEBIBABJBJBD D4BE BP B9BDBABIBDBIB7CYB6BGBABDBHBH D4BF BPCRD3D2CYB4D4BEB5 CVBPDED4CZB4CJDEBD DEBECLB8CJD4BD D4BE D4BFCLB8BDB5 CZBPD0CXD2D7D4CPCRCTB4BEB8BGB8BGBCBCB5BN CJCABEB8C3BECLBPD6D0D3CRD9D7B4CVB8CZB5 D4D0D3D8B4CABDB8B3CZBAB3B5 D4D6CXD2D8B9CSCTD4D7 D4D6D3CQBJBLBKBFD6CRCQBACTD4D7 CCCWCT D6D3D3D8 CRD3D2D8D3D9D6 CXD7 D7CWD3DBD2 CXD2 BYCXCVBABI BYD3D6 D4 BPBGB8D8CWCTCUD3D0D0D3DBCXD2CV C5CPD8D0CPCQ CRD3CSCT ACD2CSD7 DBCWCTD6CT D8CWCT D6D3D3D8 D0D3CRD9D7 CRD6D3D7D7CTD7 D8CWCT CWD3D6CXDED3D2D8CPD0 D0CXD2CT AX CS BPBFBA CPBPBH CQBPBFBC D4BPBG DCBPB9BDBG CSDC BPBCBABCBEBH CXBPBD DBCWCXD0CT DC BO B9BDBF D7BPDCB7CYB6BFBN D8D3D8CPD0CPD2CVB4CXB5 BPB4CPD2CVD0CTB4D7 B7BHB5B9CPD2CVD0CTB4D7B5B9CPD2CVD0CTB4D7 B7D4B5B9CPD2CVD0CTB4D7 B7 CQB5 B5 B6BDBKBCBBD4CXBN BI -30 -25 -20 -15 -10 -5 0 -4 -3 -2 -1 0 1 2 3 4 BYCXCVD9D6CT BIBM CAD3D3D8 BVD3D2D8D3D9D6 CUD3D6 C3 BPBDBCBIBMBFBL DCCXB4CXB5 BP DCBN DCBPDCB7CSDCBN CXBPCXB7BDBN CTD2CS CFCTACD2CSD8CWCPD8 CUD3D6 DC BP A0BDBFBMBJBJBHB8 ABA0 AI BD A0AI BE A0AI BF BP A0BDBKBCBMBC ? BM CCCWCT CRD3D1D4D3D7CXD8CT CVCPCXD2 D8CWCPD8 D4D0CPCRCTD7 D8CWCT CRD0D3D7CTCS D0D3D3D4 D4D3D0CTD7 CPD8 D7 BP A0BEBMBEBHA6CYBFCRCPD2 CQCT CUD3D9D2CS DBCXD8CW D8CWCT C5CPD8D0CPCQ D4D6D3CVD6CPD1 CPBPBH CQBPBFBC D4BPBG D7BPB9BDBFBABJBJBH B7 CYB6BF C3BPB4CPCQD7B4D7B5B6CPCQD7B4D7 B7 CQB5B6CPCQD7B4D7 B7 D4B5 B5BBCPCQD7B4D7B7BHB5 CZCR BP C3BBBH CRBPCJBDCQC3BHB6C3CL D6D3D3D8D7B4CRB5 CTD2CS BJ CFCT ACD2CS D8CWCPD8 C3 BP CYD7CYCYD7 B7BGCYCYD7 B7BFBCCY CYD7 B7BHCY CY D7BPA0BDBFBMBJBJBHB7CYBF BP BEBHBIBMBGBKBN CPD2CS C3 CR BPBHBDBMBF CFCTD2CTDCD8D7CTD8 D9D4 D8CWCT D6D3D3D8 CRD3D2D8D3D9D6BACFCXD8CW C3 BPBHC3 CR B8DBCT D3CQD8CPCXD2 BDB7 D4D7B4D7 B7BFBCB5 D7 BF B7BFBCD7 BE B7 C3D7B7BHCZ BP BDB7 D4D7B4D7 B7BFBCB5 D7 BF B7BFBCD7 BE B7BEBHBIBMBGBKD7 B7 BDBEBKBEBMBFBL BP BDB7 DED7B4D7 B7BFBCB5 B4D7 B7BEBCBMBHBHBLB5B4D7B7BGBMBJBEBCBJA0 CYBIBMBFBFBDBLB5B4D7B7BGBMBJBEBCBJ B7 CYBIBMBFBFBDBLB5 CCCWCT CUD3D0D0D3DBCXD2CV C5CPD8D0CPCQ D4D6D3CVD6CPD1 CSD6CPDBD7 D8CWCT D6D3D3D8 CRD3D2D8D3D9D6 DEBD BP BC DEBE BP B9BFBC D4BD BP B9BEBCBABHBHBL D4BE BP B9BGBABJBEBCBJB7CYB6BIBABFBFBDBL D4BF BPCRD3D2CYB4D4BEB5 CVBPDED4CZB4CJDEBD DEBECLB8CJD4BD D4BE D4BFCLB8BDB5 CZBPD0CXD2D7D4CPCRCTB4BEB8BGB8BGBCBCB5BN CJCABFB8C3BFCLBPD6D0D3CRD9D7B4CVB8CZB5 D4D0D3D8B4CABFB8B3CZBAB3B5 D4D6CXD2D8B9CSCTD4D7 D4D6D3CQBJBLBKBFD6CRCRBACTD4D7 CCCWCT D6D3D3D8 CRD3D2D8D3D9D6 CXD7 D7CWD3DBD2 CXD2 BYCXCVBABJ CCCWCT D8CWD6CTCT D6D3D3D8 CRD3D2D8D3D9D6D7 CRCPD2 CQCT D4D9D8 D3D2 CP D7CXD2CVD0CT D4D0D3D8 D9D7CXD2CV D8CWCT CUD3D0D0D3DBCXD2CV D4D6D3CVD6CPD1BA DEBD BP BC DEBE BP B9BFBC D4BD BP B9BEBJB8BJBD D4BE BP B9BDBABDBHB7CYB6BFBABHBHBK D4BF BP B9BDBABDBHB9CYB6BFBABHBHBK CVBPDED4CZB4CJDEBD DEBECLB8CJD4BD D4BE D4BFCLB8BDB5 CZBPD0CXD2D7D4CPCRCTB4BEB8BGB8BGBCBCB5BN CJCABDB8C3BDCLBPD6D0D3CRD9D7B4CVB8CZB5BN D4BD BP B9BEBIBABJBJBD D4BE BP B9BDBABIBDBIB7CYB6BGBABDBHBH D4BF BPCRD3D2CYB4D4BEB5 CVBPDED4CZB4CJDEBD DEBECLB8CJD4BD D4BE D4BFCLB8BDB5 CJCABEB8C3BECLBPD6D0D3CRD9D7B4CVB8CZB5BN BK -20 -18 -16 -14 -12 -10 -8 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 BYCXCVD9D6CT BJBM CAD3D3D8 BVD3D2D8D3D9D6 CUD3D6 C3 BPBEBHBIBMBGBK D4BD BP B9BEBCBABHBHBL D4BE BP B9BGBABJBEBCBJB7CYB6BIBABFBFBDBL D4BF BPCRD3D2CYB4D4BEB5 CVBPDED4CZB4CJDEBD DEBECLB8CJD4BD D4BE D4BFCLB8BDB5 CJCABFB8C3BFCLBPD6D0D3CRD9D7B4CVB8CZB5BN DCBD BP D6CTCPD0B4CABDB5BN DDBD BP CXD1CPCVB4CABDB5BN DCBE BP D6CTCPD0B4CABEB5BN DDBE BP CXD1CPCVB4CABEB5BN DCBF BP D6CTCPD0B4CABFB5BN DDBF BP CXD1CPCVB4CABFB5BN D4D0D3D8B4DCBDB8DDBDB8B3CZBAB3B8DCBEB8DDBEB8B3D6BAB3B8DCBFB8DDBFB8B3CVBAB3B5 D4D6CXD2D8B9CSCTD4D7 D4D6D3CQBJBLBKBFD6CRCSBACTD4D7 CCCWCT CRD3D1CQCXD2CTCS D6D3D3D8 CRD3D2D8D3D9D6 CXD7 D7CWD3DBD2 CXD2 BYCXCVBABK CF CTD2D3DBCWCPDACTCPDACTD6DD CVD3D3CS CXCSCTCP D3CU DBCWCPD8 D8CWCT DACPD6CXD3D9D7 CRCWD3CXCRCTD7 D3CU CVCPCXD2 D1CTCPD2 CXD2 D8CTD6D1D7 D3CU CVCPCXD2BABY D3D6 D4D6CTCSCXCRD8CPCQCXD0CXD8DDD3CUD8CWCT D6CTD7D4D3D2D7CT D8CWCT D1CXCSCSD0CT CVCPCXD2 CXD7 D4D6D3CQCPCQD0DD D8CWCT CQCTD7D8 CRCWD3CXCRCTBAC1CU DB CTCRCWD3D3D7CT D8CWCT CWCXCVCW CVCPCXD2B8 DBCTDBCXD0D0 CVCTD8 CP CUCPD7D8CTD6 D6CTD7D4D3D2D7CTB8 CQD9D8 D8CWCT D2CPD8D9D6CT D3CU D8CWCT D6CTD7D4D3D2D7CT CXD7 D0CTD7D7 D4D6CTCSCXCRD8CPCQD0CTBA BL -30 -25 -20 -15 -10 -5 0 -5 -4 -3 -2 -1 0 1 2 3 4 5 BYCXCVD9D6CT BKBM CAD3D3D8 BVD3D2D8D3D9D6 CUD3D6 C3 BPBEBHBIBMBGBK BDBC