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Hello Gerry, @gchenfc , I wonder should equation (15) be +MuutPytyt instead of -MuutPytyt? ![image](https://user-images.githubusercontent.com/22860642/196365539-441e7b6a-fa3a-468f-99b9-2adf2a5db0b0.png) Because if we substitue the control ut by the decomposition, we get ![image](https://user-images.githubusercontent.com/22860642/196365922-ac2827fb-c60d-48c1-a8d9-795d66d4d168.png) Then, we...

@gchenfc Thanks again!