Problem 3a -- Formula correction

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The formula given in problem 3a is incorrect. It should be be replaced with:

y_{k}=CA^{k}x_{0}+\sum _{{i=0}}^{{k-1}}CA^{i}Bu_{{k-1-i}}+Du_{k}

--Mary Dunlop 19:29, 17 October 2006 (PDT)