deletions | additions       diff --git a/algorithm.tex b/algorithm.tex  index 21b5eee..3815524 100644  --- a/algorithm.tex  +++ b/algorithm.tex 
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Finally, once $\hat{D}_{22}$ is obtained, we can obtain an estimate closed-loop transfer function  \begin{equation}  \label{eq:estC}  \hat{\mC}(z) =\mW\left(\frac{z-1}{z+1}\right) \times  \begin{bmatrix} I & 0 \\   0 & \hat{D}^{-1}_{22}  \end{bmatrix}, \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}.