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\end{equation}  Finally, once $\hat{D}_{22}$ is obtained, we can obtain an estimate closed-loop transfer function  \begin{equation}\label{eq:estC} \begin{equation}  \hat{\mC}(z) = \begin{bmatrix}   I & 0 \\   0 & \hat{D} \hat{D}_22^{-1}  \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}.