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e(t+1)=x(t+1)-xOpt(t+1)  $$  \selectlanguage{russian}Подставляем в выражения уравнения и упрощаем:  \selectlanguage{english}$e(t+1)=x(t+1)–K_{t+1}*z(t+1)-(1-K_{t+1})*(xOpt(t)+a*t+2.1)=x(t+1)-K_{t+1}*(x(t+1)+N_{t+1})-(1-K_{t+1})*(xOpt(t)+a*t+2.1)=x(t+1)*(1-K_{t+1})-K_{t+1}*(x(t+1)+N_{t+1})-(1-K_{t+1})*(xOpt(t)+a*t+2.1)=(1-K_{t+1})*(x(t+1)–xOpt(t)–a*t–2.1)–K_{t+1}*N_{t+1}=(1-K_{t+1})*(x(t)+a*t+2.1+E_{t}–xOpt(t)–a*t–2.1)–K_{t+1}*N_{t+1}=(1-K_{t+1})*(x(t)–xOpt(t)+E_{t})–K_{t+1}*N_{t+1}=(1-K_{t+1})*(e(t)+E_{t})–K_{t+1}*N_{t+1}$ \selectlanguage{english}$$  e(t+1)=x(t+1)–K_{t+1}*z(t+1)-(1-K_{t+1})*(xOpt(t)+a*t+2.1)=x(t+1)-K_{t+1}*(x(t+1)+N_{t+1})-(1-K_{t+1})*(xOpt(t)+a*t+2.1)=x(t+1)*(1-K_{t+1})-K_{t+1}*(x(t+1)+N_{t+1})-(1-K_{t+1})*(xOpt(t)+a*t+2.1)=(1-K_{t+1})*(x(t+1)–xOpt(t)–a*t–2.1)–K_{t+1}*N_{t+1}=(1-K_{t+1})*(x(t)+a*t+2.1+E_{t}–xOpt(t)–a*t–2.1)–K_{t+1}*N_{t+1}=(1-K_{t+1})*(x(t)–xOpt(t)+E_{t})–K_{t+1}*N_{t+1}=(1-K_{t+1})*(e(t)+E_{t})–K_{t+1}*N_{t+1}$$