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Feedback Control of Dynamic Systems 8Th Edition Franklin Solutions Manual Full Chapter PDF
Feedback Control of Dynamic Systems 8Th Edition Franklin Solutions Manual Full Chapter PDF
Gene F. Franklin
.
J. David Powell
.
Abbas Emami-Naeini
.
Assisted by:
H. K. Aghajan
H. Al-Rahmani
P. Coulot
P. Dankoski
S. Everett
R. Fuller
T. Iwata
V. Jones
F. Safai
L. Kobayashi
H-T. Lee
E. Thuriyasena
M. Matsuoka
The Frequency-response
Design Method
U0 ! 1
0 = G(s) = U0 G( j!)
s j! s= j! 2j
and
U0 ! 1
0 = G(s) = U0 G(j!) :
s + j! s=+j! 2j
1 2 n o o
Y (s) = + + + + +
s p1 s p2 s pn s + j! o s j! o
1 n o
Y (s)(s+j!) = (s+j!)+:::+ (s+j!)+ o+ (s+j!)
s + a1 s + an s j!
6001
6002 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
1 n o
) o = Y (s)(s + j!) (s + j!) ::: (s + j!) (s + j!)
s + a1 s + an s j!
1 o
o = o js= j! = Y (s)(s + j!) (s + j!) ::: (s + j!)
s + a1 s j! s= j!
Uo !
= Y (s)(s + j!)js= j! = G(s) 2 (s + j!)js= j!
s + !2
Uo ! 1
= G(s) js= j! = Uo G( j!)
s j! 2j
1 n o
Y (s)(s j!) = (s j!) + ::: + (s j!) +
(s j!) + o
s + a1 s + an
s + j!
Uo !
o = o js=j! = Y (s)(s j!)js=j! = G(s) 2 (s j!)js=j!
s + !2
Uo ! 1
= G(s) js=j! = Uo G(j!)
s + j! 2j
(b)
j!t j!t
y(t) = oe + oe
1 j!t 1 j!t
y(t) = Uo G( j!) e + Uo G(j!) e
2j 2j
G(j!)ej!t G( j!)e j!t
= Uo
2j
n o1
2 2 2
jG(j!)j = Re [G(j!)] + Im [G(j!)] =A
Im [G(j!)]
\G(j!) = tan 1
=
Re [G(j!)]
n o1
2 2 2
jG( j!)j = Re [G( j!)] + Im [G( j!)] = jG(j!)j
n o 21
2 2
= Re [G(j!)] + Im [G(j!)] =A
Im [G( j!)] Im [G(j!)]
\G( j!) = tan 1
= tan 1
=
Re [G( j!)] Re [G(j!)]
) G(j!) = Aej ; G( j!) = Ae j
Thus,
Aej ej!t
Ae j
e j!t
ej(!t+ )
e j(!t+ )
y(t) = Uo = Uo A
2j 2j
y(t) = Uo A sin(!t + )
6003
where
Im [G(j!)]
A = jG(j!)j ; = tan 1
= \G(j!)
Re [G(j!)]
1
G(s) =
s + 10
(a)
1 1 10 j!
G(s) = ; G(j!) = =
s + 10 10 + j! 100 + ! 2
1 !
jG(j!)j = p ; \G(j!) = tan 1
100 + ! 2 10
! jG(j!)j \G(j!)
1 0:0995 5:71
2 0:0981 11:3
5 0:0894 26:6
10 0:0707 45:0
20 0:0447 63:4
50 0:0196 78:7
100 0:00995 84:3
(b) To plot the asymptotes, you …rst note that n = 0; as de…ned in Sec-
tion 6.1.1. That signi…es that the leftmost portion of the asymptotes
will have zero slope. That portion of the asymptotes will be located
at the DC gain of the transfer function, which, in this case it can
be seen by inspection to be 0.1. So the asymptote starts with a
straght horizontal line at 0.1 and that continues until the breakpoint
at ! = 10, at which point the asymptote has a slope of n = 1 that
continues until forever, at least until the edge of the paper. The
values computed above by "hand" (at least we hope you didn’t cheat)
are plotted on the graph below and you see they match quite well
except very near the breakpoint, a you should have expected. The
Bode plot is :
6004 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
-1
Magnitude
10
-2
10
-3
10
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
20
0
Phase (deg)
-20
-40
-60
-80
-100
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
3. Sketch the asymptotes of the Bode plot magnitude and phase for each
of the following open-loop transfer functions. After completing the hand
sketches verify your result using MATLAB. Turn in your hand sketches
and the MATLAB results on the same scales.
2000
(a) L(s) =
s(s + 200)
100
(b) L(s) =
s(0:1s + 1)(0:5s + 1)
1
(c) L(s) =
s(s + 1)(0:02s + 1)
1
(d) L(s) =
(s + 1)2 (s + 10)2
10(s + 4)
(e) L(s) =
s(s + 1)(s + 200)
1000(s + 0:1)
(f) L(s) =
s(s + 1)(s + 8)2
6005
(s + 5)(s + 10)
(g) L(s) =
s(s + 1)(s + 100)
4s(s + 10)
(h) L(s) =
(s + 100)(s + 500)
s
(i) L(s) =
(s + 1)(s + 10)(s + 200)
Solution:
10
(a) L(s) = s
s 200 +1
The asymptote will have magnitude = 10 at ! = 1 and have a -1 slope
at the low frequencies. So the low frequency asymptote will pass
through magnitude = 1, at ! = 10: At ! = 200; the slope changes to
-2, and that slope continues forever. The phase asymptotes are even
simpler and shown in the plot below along with the Matlab generated
exact curve.
0
10
Magnitude
-5
10
1 2 3 4
10 10 10 10
ω (rad/sec)
-80
-100
Phase (deg)
-120
-140
-160
-180
-200
1 2 3 4
10 10 10 10
ω (rad/sec)
6006 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
100
(b) L(s) = s s
s 10 +1 2 +1
Breakpoints are at 2 and 10. The slope starts at n = -1, the changes
to -2 at ! = 2; then changes to -3 at ! = 10: The magnitude on the
-1 slope goes through 100 at ! = 1:Thus, will be 10,000 at ! = 0:01
0
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
-50
-100
Phase (deg)
-150
-200
-250
-300
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
1
(c) L(s) = s(s+1)(0:02s+1)
0
10
Magnitude
-5
10
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
-50
-100
Phase (deg)
-150
-200
-250
-300
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
1
100
(d) L(s) = 2
s
(s + +1 1)2 10
Initially, slope = 0, then becomes n = -2 at ! = 1; then n = -4 at
! = 10:
0:2 4s + 1
(e) L(s) = s
s(s + 1)(s 200 + 1)
50
32 (10s + 1) (1:56) (10s + 1)
(f) L(s) = 2 = 2
s
s(s + 1) + 1 s(s + 1) 8s + 1
8
Breakpoints are at ! = 0:1; 1; 8 So, to position the low frequency
asymptote, you need to extrapolate the line from ! = 1 backward.
The magnitude at ! = 1 would be 1.56, and to position the asymptote
at ! = 0:1; we need to multiply by 10 due to the -1 slope Therefore,
it is located at a magnitude of 15.6 at ! = 0:1:and will be 156 at
! = 0:01:
1 s s
2 + 1 10
5 +1
(g) L(s) =
s(s + 1)(s + 100)
6008 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
-5
10
-1 0 1 2
10 10 10 10
ω (rad/sec)
0
Phase (deg)
-100
-200
-300
-400
-1 0 1 2
10 10 10 10
ω (rad/sec)
6009
0
10
Magnitude
-5
10
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
-50
Phase (deg)
-100
-150
-200
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
6010 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
0
10
-2 -1 0 1 2
10 10 10 10 10
ω(rad/sec)
0
Phase (deg)
-100
-200
-300
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
6011
0
10
Magnitude
-2
10
-1 0 1 2 3
10 10 10 10 10
ω(rad/sec)
50
0
Phase (deg)
-50
-100
-150
-200
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
6012 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
0
10
Magnitude
-2
10
0 1 2 3 4
10 10 10 10 10
ω (rad/sec)
200
150
Phase (deg)
100
50
-50
0 1 2 3 4
10 10 10 10 10
ω (rad/sec)
4 s
5000s 10 +1
(h) L(s) = s s
100 +
1 500 + 1
This one is unusual in that the slope is generally rising with increasing
frequency. Finite output at extremely high frequencies doesn’t really
happen in nature, but hey, this is a theoretical homework problem to
check whether you can follow the rules and do what the math tells
you to do.
1
2000 s
(i) L(s) = s s
(s + 1) 10 + 1 ( 200 + 1)
4. Real poles and zeros. Sketch the asymptotes of the Bode plot magnitude
and phase for each of the following open-loop transfer functions. After
completing the hand sketches verify your result using MATLAB. Turn in
your hand sketches and the MATLAB results on the same scales.
1
(a) L(s) =
s(s + 1)(s + 5)(s + 10)
6013
-4
10
-6
10
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
100
Phase (deg)
-100
-200
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
6014 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
(s + 2)
(b) L(s) =
s(s + 1)(s + 5)(s + 10)
(s + 2)(s + 6)
(c) L(s) =
s(s + 1)(s + 5)(s + 10)
(s + 2)(s + 8)
(d) L(s) =
s(s + 1)(s + 5)(s + 10)
Solution:
1
50
(a) L(s) = s s
s(s + 1) 5 +1 10 +1
0
10
Magnitude
-10
10
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
0
-100
Phase (deg)
-200
-300
-400
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
1 s
25 2+1
(b) L(s) = s s
s(s + 1) 5 +1 10 +1
6015
0
Magnitude 10
-10
10
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
0
-100
Phase (deg)
-200
-300
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
6 s
25 + 1 6s + 1
2
(c) L(s) =
s(s + 1) 5s + 1 10
s
+1
6016 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
0
10
Magnitude
-5
10
-10
10
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
0
-50
Phase (deg)
-100
-150
-200
-250
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
1 s
5 + 1 4s + 1
2
(d) L(s) =
s(s + 1) 5s + 1 8s + 1
6017
0
Magnitude 10
-5
10
-10
10
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
0
-50
Phase (deg)
-100
-150
-200
-250
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
5. Complex poles and zeros Sketch the asymptotes of the Bode plot mag-
nitude and phase for each of the following open-loop transfer functions
and approximate the transition at the second order break point based
on the value of the damping ratio. After completing the hand sketches
verify your result using MATLAB. Turn in your hand sketches and the
MATLAB results on the same scales.
1
(a) L(s) =
s2
+ 5s + 20
1
(b) L(s) =
s(s2 + 3s + 10)
(s2 + 2s + 8)
(c) L(s) =
s(s2 + 2s + 10)
(s2 + 1)
(d) L(s) =
s(s2 + 4)
(s2 + 4)
(e) L(s) =
s(s2 + 1)
6018 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
Solution:
1
20
(a) L(s) = 2
ps + 5
20 20 s +1
-2
Magnitude
10
-3
10
-4
10
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
50
0
Phase (deg)
-50
-100
-150
-200
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
1
10
(b) L(s) = 2
s ps + 3
10 10 s +1
6019
0
10
Magnitude
-5
10
-10
10
-1 0 1 2
10 10 10 10
ω (rad/sec)
-50
-100
Phase (deg)
-150
-200
-250
-300
-1 0 1 2
10 10 10 10
ω (rad/sec)
2
4 s
5
p
2 2
+ 14 s + 1
(c) L(s) = 2
s ps + 15 s + 1
10
6020 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
Magnitude
0
10
-1 0 1 2
10 10 10 10
ω (rad/sec)
0
Phase (deg)
-50
-100
-150
-1 0 1 2
10 10 10 10
ω (rad/sec)
1
(s2 + 1)
(d) L(s) = h4 i
s 2
s 2 +1
h i
s 2
4 2 +1
(e) L(s) =
s(s2 + 1)
6. Multiple poles at the origin Sketch the asymptotes of the Bode plot mag-
nitude and phase for each of the following open-loop transfer functions.
After completing the hand sketches verify your result using MATLAB.
Turn in your hand sketches and the MATLAB results on the same scales.
1
(a) L(s) =
s2 (s + 2)
1
(b) L(s) = 3
s (s + 8)
1
(c) L(s) = 4
s (s + 10)
6021
0
Magnitude
10
-2
10
-1 0 1
10 10 10
Frequency (rad/sec)
150
100
Phase (deg)
50
0
-50
-100
-150
-1 0 1
10 10 10
Frequency (rad/sec)
6022 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
0
10
-2
10
-1 0 1
10 10 10
Frequency (rad/sec)
0
Phase (deg)
-100
-200
-300
-1 0 1
10 10 10
Frequency (rad/sec)
6023
0
10
Magnitude
-5
10
-1 0 1 2
10 10 10 10
ω (rad/sec)
-150
Phase (deg)
-200
-250
-300
-1 0 1 2
10 10 10 10
ω (rad/sec)
(s + 3)
(d) L(s) =
s2 (s + 10)
(s + 3)
(e) L(s) =
s3 (s + 5)
(s + 1)2
(f) L(s) =
s3 (s+ 10)
(s + 1)2
(g) L(s) =
s3 (s
+ 10)2
Solution:
1
2
(a) L(s) = s
s2 2 +1
1
8
(b) L(s) = s
s3 8 +1
1
10
(c) L(s) = s
s4 10 + 1
6024 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
0
10
Magnitude
-10
10
-1 0 1 2
10 10 10 10
ω (rad/sec)
-250
Phase (deg)
-300
-350
-400
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
6025
0
10
Magnitude
-5
10
-10
10
-1 0 1 2
10 10 10 10
ω (rad/sec)
50
Phase + 360 (deg)
-50
-100
-1 0 1 2
10 10 10 10
ω (rad/sec)
6026 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
0
Magnitude 10
-2
10
-4
10
-1 0 1 2
10 10 10 10
ω (rad/sec)
-50
Phase (deg)
-100
-150
-200
-1 0 1 2
10 10 10 10
ω(rad/sec)
3 s
10 3 +1
(d) L(s) = s
s2 10 + 1
3 s
5 3 +1
(e) L(s) =
s3 5s + 1
1 2
10 (s + 1)
(f) L(s) = s
s3 10 +1
1 2
100 (s + 1)
(g) L(s) = 2
s
s3 10 +1
7. Mixed real and complex poles Sketch the asymptotes of the Bode plot mag-
nitude and phase for each of the following open-loop transfer functions. Af-
ter completing the hand sketches verify your result using Matlab. Turn
in your hand sketches and the Matlab results on the same scales.
(s + 2)
(a) L(s) =
s(s + 10)(s2 + 2s + 2)
6027
0
Magnitude
10
-5
10
-1 0 1 2
10 10 10 10
ω (rad/sec)
-150
Phase (deg)
-200
-250
-300
-1 0 1 2
10 10 10 10
ω (rad/sec)
6028 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
0
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
-50
-100
Phase (deg)
-150
-200
-250
-300
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
6029
0
10
-5
10
-2 -1 0 1 2
10 10 10 10 10
ω(rad/sec)
-50
-100
Phase (deg)
-150
-200
-250
-300
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
6030 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
(s + 2)
(b) L(s) =
s2 (s + 10)(s2 + 6s + 25)
(s + 2)2
(c) L(s) =
s2 (s + 10)(s2 + 6s + 25)
(s + 2)(s2 + 4s + 68)
(d) L(s) =
s2 (s + 10)(s2 + 4s + 85)
[(s + 1)2 + 1]
(e) L(s) =
s2 (s + 2)(s + 3)
Solution:
1 s
10 2 +1
(a) L(s) = 2
s ps
s 10 +1 2
+s+1
0
10
Magnitude
-5
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
-50
-100
Phase (deg)
-150
-200
-250
-300
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
1 s
125h 2 + 1 i
(b) L(s) =
s s 2 6
s2 10 + 1 5 + 25 s +1
6031
0
10
Magnitude
-5
10
-10
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
-100
Phase (deg)
-200
-300
-400
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
2 s 2
125 h 2 + 1 i
(c) L(s) =
s s 2 6
s2 10 + 1 5 + 25 s +1
6032 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
0
10
Magnitude
-5
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
0
Phase (deg)
-100
-200
-300
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
2
4 s ps 1
25 2 +1 2 17
+ 17 s +1
(d) L(s) = 2
s ps 4
s2 10 +1 85
+ 85 s +1
6033
0
10
-5
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
100
Phase (deg)
-100
-200
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
2
1 ps
3 2
+s+1
(e) L(s) = s s
s2 2 +1 3 +1
6034 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
Magnitude
0
10
-5
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
0
Phase (deg)
-50
-100
-150
-200
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
8. Right half plane poles and zeros Sketch the asymptotes of the Bode plot
magnitude and phase for each of the following open-loop transfer functions.
Make sure the phase asymptotes properly take the RHP singularity into
account by sketching the complex plane to see how the \L(s) changes as
s goes from 0 to +j1: After completing the hand sketches verify your
result using MATLAB. Turn in your hand sketches and the MATLAB
results on the same scales.
s+2 1
(a) L(s) = ; The model for a case of magnetic levitation
s + 10 s2 4
with lead compensation.
s+2 1
(b) L(s) = ; The magnetic levitation system with in-
s(s + 10) (s2 1)
tegral control and lead compensation.
s 1
(c) L(s) =
s2
s2 + 2s + 1
(d) L(s) =
s(s + 20)2 (s2 2s + 2)
6035
(s + 2)
(e) L(s) =
s(s 1)(s + 6)2
1
(f) L(s) =
(s 1)[(s + 2)2 + 3]
Solution:
1 s
20 2+1 1
(a) L(s) = s
( 10 + 1) [( 2s )2 1]
-5
10
-1 0 1 2
10 10 10 10
ω (rad/sec)
-100
Phase (deg)
-150
-200
-1 0 1 2
10 10 10 10
ω (rad/sec)
1 s
5 +1
2 1
(b) L(s) =
s(s + 10) s2 1
6036 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
0
10
Magnitude -5
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
-150
-200
Phase (deg)
-250
-300
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
s 1
(c) L(s) =
s2
6037
0
10
-2 -1 0 1
10 10 10 10
ω (rad/sec)
50
0
Phase (deg)
-50
-100
-150
-2 -1 0 1
10 10 10 10
ω (rad/sec)
1 2
40 (s + 2s + 1)
(d) L(s) = 2
s 2
s +1 ps s+1
20 2
6038 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
Magnitude
-5
10
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
300
200
Phase (deg)
100
-100
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
1 s
18 2 +1
(e) L(s) = 2
s
s(s 1) 6 +1
6039
0
10
Magnitude
-5
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
-100
Phase (deg)
-150
-200
-250
-300
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
1
7
(f) L(s) = 2
(s 1) ps + 47 s + 1
7
6040 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
0
10
Magnitude -5
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
-100
Phase (deg)
-150
-200
-250
-300
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
Solution:
By inspection, the given asymptotic Bode plot is from
Therefore,
10(s=10 + 1) s + 10
G(s) = =
s s
The response to a unit step input is :
20
15
y(t)
10
0
0 0.5 1 1.5 2
Time (sec)
s=a + 1
G(s) = :
s2+s+1
Use MATLAB to compare the Mp from the step response of the system
for a = 0:01; 0:1, 1, 10, and 100 with the Mr from the frequency response
of each case. Is there a correlation between Mr and Mp ?
Solution:
50
a=0.01
40
30
y(t)
20
10 a=0.1
a=1 a=100
0 a=10
-10
0 2 4 6 8 10
Time (sec)
6044 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD
a=0.01
a=0.1
Magnitude
0
10
a=1
a=10
a=100
-5
10
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
100 a=0.01
a=0.1
Phase (deg)
a=1
0
-100 a=10
a=100
-200
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
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