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\(x_s(k) = x_p(k) + \alpha(x_0(k) - x_p(k)) \\ \)
\(x'_s(k) = x'_0(k) + \frac{\beta}{T} (x_0(k) - x_p(k)) \\ \)
\(x_p(k+1) = x_s(k) + T x'_s(k) \\ x'_p(k+1) = x'_s(k) \)
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