Automotive control systems : For engine, driveline, and vehicle

Uwe Kiencke

Lars Nielsen

Automotive Control Systems

For Engine, Driveline, and Vehicle

Uwe Kiencke

Lars Nielsen

Automotive

Control Systems

For Engine, Driveline, and Vehicle

Second edition

With 345 figures and 13 tables

Library of Congress Control Number: 2005922217

ISBN 3-540-23139-0 Springer Berlin Heidelberg New York

This work is subject to copyright. All rights are reserved, whether the whole or part of the material is

concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting,

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Printed on acid-free paper 62/3141/Yu – 5 4 3 2 1 0

Prof. Dr.-Ing. Uwe Kiencke

Universität Karlsruhe (TH)

Department of Electrical Engineering

76187 Karlsruhe

Germany

kiencke@iiit.uni-karlsruhe.de

Prof. Dr. Lars Nielsen

Division of Vehicular Systems

Department of Electrical Engineering

Linköping University

581 83 Linköping

Sweden

lars@isy.liu.se

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:M^￾ =!T;.￾b'=!E;.￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ XX

:M^MH￾ BGa￾?E[G￾b=!_V[￾?I.V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ XX

:M^M^￾ BGa￾?E[G￾GC$_V[?GE￾=!C$.T￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ X/

:M\￾
?T>3_.B￾![?G￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ XF

:M\MH￾ b=!_V[￾[TGA.￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ XF

:M\M^￾ E[!A.￾[TGA.￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ /e

:M\M\￾ GCIT.VV?GE￾!E+￾GC$_V[?GE￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ /e

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:M8￾ _.B￾E@.'[?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ /H

:MY￾ _.B￾`!IGT![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ /\

:MX￾ cB?E+.T￾cE!C?'V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ //

:MXMH￾ .TG>?C.EV?GE!B￾G+.B?E;￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ //

:MXM^￾ =.TCG+cE!C?'￾O_![?GEV￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ /F

:MXM\￾ E.T;c￾!B!E'.￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ /F

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:MXM8￾

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:MXMF￾ !B'_B![?GE￾G3￾[![.￾!T?!$B.V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾ M￾ F^

:M/￾ ?[[?E;￾G3￾G+.B￾!T!C.[.TV￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ F\

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8M\￾ EG'A￾GE[TGB￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H^/

8M\MH￾ EG'A?E;￾![￾￾E;?E.V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾H^/

8M\M^￾ EG'A￾.EVGTV￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H\^

8M\M\￾ ?;E!B￾TG'.VV?E;￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H\8

8M\M:￾ EG'A￾GE[TGB￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H\X

8M\M8￾
+!I[?`.￾ EG'A￾GE[TGB￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H\/

8M:￾ cB?E+.T￾!B!E'?E;￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H:^

8M:MH￾ .V?+_.V￾![￾[![?GE!Tc￾E;?E.￾I.T![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H:\

8M:M^￾ .V?+_.V￾![￾E;?E.￾T!EV?.E[V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H::

8M:M\￾
+!I[![?GE￾G3￾E@.'[?GE￾!I￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H:Y

?￾ -*24=-= 5)3

YMH￾ ?!;EGV?V￾G3￾
_[GCG[?`.￾E;?E.V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H8e

YMHMH￾ =c￾E>G!T+￾?!;EGV?VP￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H8e

YM^￾ ￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H8H

YM^MH￾ !?E￾=!T!'[.T?V[?'V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾ M￾H8H

YM\￾ E[TG+_'[?GE￾[G￾?!;EGV?V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H8\

YM\MH￾ !V?'￾.7E?[?GEV￾!E+￾GE'.I[V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H8:

YM:￾ G+.B￾!V.+￾?!;EGV?V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H8Y

YM:MH￾ GC.￾=!T!'[.T?V[?'V￾G3￾G+.B￾!V.+￾?!;EGV?V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾H8Y

YM8￾ !_B[V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H8X

YM8MH￾ !_B[￾G+.B?E;￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾ M￾H8F

YMY￾ T?E'?IB.V￾G3￾G+.B￾!V.+￾?!;EGV?V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾H8F

YMYMH￾ .V?+_!B￾.E.T![GT￾.V?;E￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾HYH

YMYM^￾ .V?+_!B￾`!B_![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾HY:

YMYM\￾ b!CIB.V￾G3￾CG+.B￾$!V.+￾+?!;EGV?V￾3GT￾>.E;?E.V￾M￾ M￾ M￾ M￾ M￾ M￾HYY

YMX￾
IIB?'![?GE￾b!CIB.￾>￾
?T￾E[!A.￾cV[.C￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾HYX

YMXMH￾ G+.B?E;￾[=.￾
?T￾E[!A.￾cV[.C￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾HY/

YMXM^￾ G+.B￾+.E[?7'![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾HXe

YMXM\￾ =.￾?!;EGV?V￾cV[.C￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾HX^

YMXM:￾ .V?+_!B￾.E.T![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾HX^

YMXM8￾ .V?+_!B￾`!B_![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾HX:

YMXMY￾ CIB.C.E[![?GE￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾HX8

YMXMX￾ !B?+![?GE￾G3￾[=.￾?!;EGV?V￾cV[.C￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾HX8

YM/￾ ?V7T.￾.[.'[?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M

 GE[.E[V

XM^￾ G+.B?E;￾G3￾._[T!B￾.!T￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾ M￾ M￾ M￾^^H

XM^MH￾ [![?GE!Tc￾.!T>=?3[￾bI.T?C.E[V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^^H

XM^M^￾ cE!C?'!B￾.!T>=?3[￾bI.T?C.E[V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^^^

XM^M\￾
￾.'G_IB.+￾G+.B￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^^:

XM\￾ T?`.B?E.￾GE[TGB￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^^Y

XM\MH￾ !'A;TG_E+￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^^X

XM\M^￾ ?.B+￾T?!BV￾3GT￾TG$B.C￾.CGEV[T![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^^/

XM\M\￾ G!BV￾G3￾T?`.B?E.￾GE[TGB￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^\H

XM\M:￾ GCC.E[￾GE￾
T'=?[.'[_T.V￾3GT￾T?`.B?E.￾GE[TGB￾ M￾ M￾ M￾ M￾ M￾ M￾^\^

XM\M8￾ [![.>I!'.￾GTC_B![?GE￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^\\

XM\MY￾ GE[TGBB.T￾GTC_B![?GE￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^\8

XM\MX￾ GC.￾..+$!'A￾TGI.T[?.V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾^\Y

XM\M/￾ T?`.B?E.￾GE[TGB￾a?[=￾Z￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾^\/

XM:￾ T?`.B?E.￾I..+￾GE[TGB￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^:\

XM:MH￾ ￾GE[TGB￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^:8

XM:M^￾ TG$B.C￾GTC_B![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^:Y

XM:M\￾ I..+￾GE[TGB￾a?[=￾
'[?`.￾!CI?E;￾!E+￾￾.=!`?GT￾M￾ M￾^:F

XM:M:￾ E9_.E'.￾3TGC￾.EVGT￾G'![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^8^

XM:M8￾ ?C_B![?GEV￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^8/

XM:MY￾ I..+￾GE[TGBB.T￾bI.T?C.E[V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^Ye

XM:MX￾ _CC!Tc￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^Y:

XM8￾ T?`.B?E.￾GE[TGB￾3GT￾.!T>=?3[?E;￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^Y:

XM8MH￾ E[.TE!B￾T?`.B?E.￾GTO_.￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^Y8

XM8M^￾ T!EVC?VV?GE>GTO_.￾GE[TGB￾T?[.T?GE￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^Xe

XM8M\￾ T!EVC?VV?GE>GTO_.￾GE[TGB￾.V?;E￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^X8

XM8M:￾ E9_.E'.￾3TGC￾.EVGT￾G'![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^X/

XM8M8￾ ?C_B![?GEV￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^/H

XM8MY￾ .!T>=?3[￾GE[TGBB.T￾bI.T?C.E[V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^/^

XMY￾
E[?>.TA?E;￾GE[TGB￾3GT￾!VV.E;.T￾!TV￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^/F

XMYMH￾ G+.B￾G3￾[=.￾Ga.T￾[T!?E￾G3￾!￾!VV.E;.T￾!T￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^FH

XMYM^￾ GE[TGBB.T￾.V?;E￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^F8

XMYM\￾ cV[.C￾.T3GTC!E'.￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾^F/

"￾ !+-0!￾ 4 !00-2* BJ5

/MH￾ E[TG+_'[?GE￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\eH

/M^￾ G>GT+?E![.￾cV[.CV￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\e^

/M\￾ =..B￾G+.B￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾

GE[.E[V 

/M:M8￾ .=?'B.￾[!$?B?[c￾
E!BcV?V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾ M￾\:^

/M8￾ !B?+![?GE￾G3￾[=.￾.=?'B.￾G+.B￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\::

/M8MH￾ !B?+![?GE￾TG'.+_T.￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\:8

/M8M^￾ !B?+![?GE￾.V_B[V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾ M￾\:X

3￾ !+-0!￾<1!A!<=￾2 ￾AA!= B'5

FMH￾ .=?'B.￾.BG'?[c￾V[?C![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\8H

FMHMH￾ .EVGT￾![!￾T.ITG'.VV?E;￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\8^

FMHM^￾ !BC!E￾?B[.T￾
IITG!'=￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\8\

FMHM\￾ =GT[￾E[TG+_'[?GE￾[G￾_ddc￾G;?'￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\88

FMHM:￾ _ddc￾V[?C![GT￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\8Y

FMHM8￾ .V_B[V￾G3￾.=?'B.￾.BG'?[c￾V[?C![GT￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\YH

FM^￾ .=?'B.￾!a￾![.￾V[?C![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\Y:

FM^MH￾ ![!￾T.ITG'.VV?E;￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾ M￾\Y:

FM^M^￾ !a￾![.￾!B'_B![?GE￾_V?E;￾[=.￾=..B￾I..+V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\Y:

FM^M\￾ EI_[V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\Y8

FM^M:￾ _[I_[V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\YY

FM^M8￾ =.￾_ddc￾cV[.C￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\YX

FM^MY￾ .!V_T.C.E[)￾G_E+!$G_[￾T!5'￾GE￾_$B?'￾G!+￾ M￾ M￾ M￾ M￾ M￾\Y/

FM\￾ T!@.'[GTc￾.'GEV[T_'[?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\YF

FM\MH￾ .=?'B.￾G'![?GE￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\YF

FM\M^￾ .'GEV[T_'[.+￾T!@.'[GT?.V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\Xe

FM\M\￾ G$_V[E.VV￾
E!BcV?V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\XH

FM:￾ +.E[?7'![?GE￾G3￾.=?'B.￾!T!C.[.TV￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\X8

FM:MH￾ T?'[?GE￾=!T!'[.T?V[?'V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾ M￾ M￾\X8

FM:M^￾ !VV￾GC.E[V￾G3￾E.T[?!￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\XF

FM:M\￾ =G'A￾
$VGT$.T￾=!T!'[.T?V[?'V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\/8

FM8￾
IITGb?C![?GE￾G3￾.=?'B.￾!T!C.[.TV￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\/X

FM8MH￾ !B'_B![?GE￾G3￾=..B￾TG_E+￾GE[!'[￾GT'.V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾\//

FM8M^￾
+!I[![?GE￾G3￾[=.￾?T.￾?+.￾B?I￾GEV[!E[V￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾\FH

FM8M\￾
IITGb?C![?GE￾G3￾?['=￾!E+￾GBB￾
E;B.V￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\F\

FM8M:￾
IITGb?C![?GE￾G3￾.=?'B.￾!VV￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\F:

FMY￾ .=?'B.￾G+c￾?+.￾B?I￾
E;B.￾$V.T`.T￾M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\FY

FMYMH￾ !V?'￾=.GTc￾G3￾!￾GEB?E.!T￾$V.T`.T￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾M￾ M￾\FY

FMYM^￾ $V.T`.T￾.V?;E￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾ M￾\F/

FMYM\￾