deletions | additions       diff --git a/algorithm.tex b/algorithm.tex  index a7a9ac8..3beab8a 100644  --- a/algorithm.tex  +++ b/algorithm.tex 
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\begin{bmatrix}   I & 0 \\   0 & \hat{D}^{-1}_{22}  \end{bmatrix} \mW\left(\frac{z-1}{z+1}\right),  \end{equation}  and the transfer functions for plant and controller, $\mG(z)$, $\mK(z)$ using \eqref{eq:khg}.