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Σε σύστημα που έχει τη μορφή x_dot = A*x_dot + B*(u+f(x)), ως κριτήριο ελεγξιμότητας θεωρούμε τον πίνακα Μ = [Β ΑΒ] να έχει γραμμικά ανεξάρτητες τις στήλες του (ορίζουσα του Μ διάφορη του μηδενός) ή η f(x) επηρεάζει κάπου την όλη διαδικασία?
η f(x) άγνωστη συνάρτηση
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