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In-Depth Information
Introducing the parameter
t
=
2
ζγ
(5.74)
which will be shown later to be very important, it follows that
t
DLS
≥
t
TLS
≥
t
OLS
=
0
(5.75)
where the equal sign is valid only for compatible systems (
γ
min
=
0). In the
x
reference system, the position of the solution is given by eq. (5.45) for
γ
=
γ
min
:
V
−
I
n
−
1
q
x
sol
(γ
min
,
ζ )
=
2
γ
ζ
(5.76)
min
which in the rotated
z
reference system (no translation) becomes
z
sol
(γ
min
,
ζ )
=
−
2
γ
min
ζ
I
n
−
1
q
(5.77)
Thus,
$
z
n
q
n
λ
n
q
n
λ
n
−
γ
TLS
(
z
n
)
z
sol
n
≈
(5.78)
%
b
T
b
q
n
z
n
where
γ
TLS
=
k
/
b
T
b
+
λ
n
>
0 and therefore
|
z
n
|
≥
z
n
.
Proposition 105 (Relative Positions)
∀
i
=
1,
...
,
n,
z
i
≥ |
z
i
| ≥
z
i
(5.79)
which implies, in the x reference system, the same inequalities for the modules:
x
2
≥
2
≥
x
2
x
(5.80)
where the equal sign is valid only for compatible systems.
Proof.
From eq. (5.78),
q
n
z
n
≈
=
Hq
n
(5.81)
2
λ
n
b
T
b
q
n
b
T
b
+
λ
n
1
−
λ
n
−
where
b
T
b
+
λ
n
λ
n
b
T
b
+
2
λ
H
=
2
(5.82)
n
+
q
n
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