images/static/controllability.svg

<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->

<svg
   xmlns:ns0="http://www.iki.fi/pav/software/textext/"
   xmlns:dc="http://purl.org/dc/elements/1.1/"
   xmlns:cc="http://creativecommons.org/ns#"
   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
   xmlns:svg="http://www.w3.org/2000/svg"
   xmlns="http://www.w3.org/2000/svg"
   xmlns:xlink="http://www.w3.org/1999/xlink"
   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
   width="210mm"
   height="100mm"
   viewBox="0 0 744.09449 354.33072"
   id="svg2"
   version="1.1"
   inkscape:version="0.91 r13725"
   sodipodi:docname="controllability.svg">
  <sodipodi:namedview
     id="base"
     pagecolor="#ffffff"
     bordercolor="#666666"
     borderopacity="1.0"
     inkscape:pageopacity="0.0"
     inkscape:pageshadow="2"
     inkscape:zoom="0.4913008"
     inkscape:cx="244.07708"
     inkscape:cy="177.16535"
     inkscape:document-units="px"
     inkscape:current-layer="layer1"
     showgrid="true"
     inkscape:window-width="1535"
     inkscape:window-height="876"
     inkscape:window-x="65"
     inkscape:window-y="24"
     inkscape:window-maximized="1">
    <inkscape:grid
       type="xygrid"
       id="grid5406"
       spacingx="10"
       spacingy="9.9999997" />
  </sodipodi:namedview>
  <defs
     id="defs4">
    <marker
       inkscape:stockid="DotL"
       orient="auto"
       refY="0.0"
       refX="0.0"
       id="marker5848"
       style="overflow:visible"
       inkscape:isstock="true">
      <path
         id="path5850"
         d="M -2.5,-1.0 C -2.5,1.7600000 -4.7400000,4.0 -7.5,4.0 C -10.260000,4.0 -12.5,1.7600000 -12.5,-1.0 C -12.5,-3.7600000 -10.260000,-6.0 -7.5,-6.0 C -4.7400000,-6.0 -2.5,-3.7600000 -2.5,-1.0 z "
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt;stroke-opacity:1;fill:#000000;fill-opacity:1"
         transform="scale(0.8) translate(7.4, 1)" />
    </marker>
    <marker
       inkscape:stockid="DotL"
       orient="auto"
       refY="0.0"
       refX="0.0"
       id="DotL"
       style="overflow:visible"
       inkscape:isstock="true">
      <path
         id="path5633"
         d="M -2.5,-1.0 C -2.5,1.7600000 -4.7400000,4.0 -7.5,4.0 C -10.260000,4.0 -12.5,1.7600000 -12.5,-1.0 C -12.5,-3.7600000 -10.260000,-6.0 -7.5,-6.0 C -4.7400000,-6.0 -2.5,-3.7600000 -2.5,-1.0 z "
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt;stroke-opacity:1;fill:#000000;fill-opacity:1"
         transform="scale(0.8) translate(7.4, 1)" />
    </marker>
    <inkscape:path-effect
       effect="spiro"
       id="path-effect5554"
       is_visible="true" />
    <marker
       inkscape:isstock="true"
       style="overflow:visible"
       id="Arrow2Lend"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow2Lend">
      <path
         inkscape:connector-curvature="0"
         transform="matrix(-1.1,0,0,-1.1,-1.1,0)"
         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1"
         id="path6716" />
    </marker>
    <marker
       inkscape:isstock="true"
       style="overflow:visible"
       id="Arrow2Lend-7"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow2Lend">
      <path
         transform="matrix(-1.1,0,0,-1.1,-1.1,0)"
         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1"
         id="path6716-8"
         inkscape:connector-curvature="0" />
    </marker>
    <marker
       inkscape:isstock="true"
       style="overflow:visible"
       id="Arrow2Lend-7-2"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow2Lend">
      <path
         transform="matrix(-1.1,0,0,-1.1,-1.1,0)"
         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1"
         id="path6716-8-2"
         inkscape:connector-curvature="0" />
    </marker>
    <marker
       inkscape:isstock="true"
       style="overflow:visible"
       id="Arrow2Lend-7-2-2"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow2Lend">
      <path
         transform="matrix(-1.1,0,0,-1.1,-1.1,0)"
         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1"
         id="path6716-8-2-5"
         inkscape:connector-curvature="0" />
    </marker>
  </defs>
  <metadata
     id="metadata7">
    <rdf:RDF>
      <cc:Work
         rdf:about="">
        <dc:format>image/svg+xml</dc:format>
        <dc:type
           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
        <dc:title></dc:title>
      </cc:Work>
    </rdf:RDF>
  </metadata>
  <g
     id="layer1"
     inkscape:groupmode="layer"
     inkscape:label="Layer 1"
     transform="translate(0,-698.0315)">
    <g
       transform="matrix(4.8,0,0,4.8,-1644.6137,232.03708)"
       ns0:text="$$\n\\frac{1}{s}\n$$"
       ns0:preamble=""
       id="g5461">
      <defs
         id="defs5463">
        <g
           id="g5465">
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1b93356b-0">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path5468" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1b93356b-1">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 2.9375,-6.375 c 0,-0.25 0,-0.265625 -0.234375,-0.265625 C 2.078125,-6 1.203125,-6 0.890625,-6 l 0,0.3125 c 0.203125,0 0.78125,0 1.296875,-0.265625 l 0,5.171875 c 0,0.359375 -0.03125,0.46875 -0.921875,0.46875 l -0.3125,0 0,0.3125 c 0.34375,-0.03125 1.203125,-0.03125 1.609375,-0.03125 0.390625,0 1.265625,0 1.609375,0.03125 l 0,-0.3125 -0.3125,0 c -0.90625,0 -0.921875,-0.109375 -0.921875,-0.46875 z m 0,0"
               id="path5471" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1b93356b-2">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path5474" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1b93356b-3">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="M 3.890625,-3.734375 C 3.625,-3.71875 3.421875,-3.5 3.421875,-3.28125 c 0,0.140625 0.09375,0.296875 0.3125,0.296875 0.21875,0 0.453125,-0.171875 0.453125,-0.5625 C 4.1875,-4 3.765625,-4.40625 3,-4.40625 c -1.3125,0 -1.6875,1.015625 -1.6875,1.453125 0,0.78125 0.734375,0.921875 1.03125,0.984375 0.515625,0.109375 1.03125,0.21875 1.03125,0.765625 0,0.25 -0.21875,1.09375 -1.421875,1.09375 -0.140625,0 -0.90625,0 -1.140625,-0.53125 0.390625,0.046875 0.640625,-0.25 0.640625,-0.53125 0,-0.21875 -0.171875,-0.34375 -0.375,-0.34375 -0.265625,0 -0.5625,0.203125 -0.5625,0.65625 0,0.5625 0.578125,0.96875 1.421875,0.96875 1.625,0 2.015625,-1.203125 2.015625,-1.65625 0,-0.359375 -0.1875,-0.609375 -0.3125,-0.71875 -0.265625,-0.28125 -0.5625,-0.34375 -1,-0.421875 -0.359375,-0.078125 -0.75,-0.15625 -0.75,-0.609375 C 1.890625,-3.578125 2.125,-4.1875 3,-4.1875 c 0.25,0 0.75,0.078125 0.890625,0.453125 z m 0,0"
               id="path5477" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-1b93356b-4">
        <g
           style="fill:#000000;fill-opacity:1"
           id="g5480">
          <g
             transform="scale(4.8,4.8)"
             ns0:text="$1/s$"
             ns0:preamble=""
             id="g5832">
            <defs
               id="defs5834">
              <g
                 id="g5836">
                <symbol
                   style="overflow:visible"
                   overflow="visible"
                   id="textext-f4fd63a1-0">
                  <path
                     inkscape:connector-curvature="0"
                     style="stroke:none"
                     d=""
                     id="path5839" />
                </symbol>
                <symbol
                   style="overflow:visible"
                   overflow="visible"
                   id="textext-f4fd63a1-1">
                  <path
                     inkscape:connector-curvature="0"
                     style="stroke:none"
                     d="m 2.9375,-6.375 c 0,-0.25 0,-0.265625 -0.234375,-0.265625 C 2.078125,-6 1.203125,-6 0.890625,-6 l 0,0.3125 c 0.203125,0 0.78125,0 1.296875,-0.265625 l 0,5.171875 c 0,0.359375 -0.03125,0.46875 -0.921875,0.46875 l -0.3125,0 0,0.3125 c 0.34375,-0.03125 1.203125,-0.03125 1.609375,-0.03125 0.390625,0 1.265625,0 1.609375,0.03125 l 0,-0.3125 -0.3125,0 c -0.90625,0 -0.921875,-0.109375 -0.921875,-0.46875 z m 0,0"
                     id="path5842" />
                </symbol>
                <symbol
                   style="overflow:visible"
                   overflow="visible"
                   id="textext-f4fd63a1-2">
                  <path
                     inkscape:connector-curvature="0"
                     style="stroke:none"
                     d=""
                     id="path5845" />
                </symbol>
                <symbol
                   style="overflow:visible"
                   overflow="visible"
                   id="textext-f4fd63a1-3">
                  <path
                     inkscape:connector-curvature="0"
                     style="stroke:none"
                     d="m 4.375,-7.09375 c 0.046875,-0.140625 0.046875,-0.171875 0.046875,-0.1875 0,-0.109375 -0.078125,-0.203125 -0.1875,-0.203125 -0.078125,0 -0.140625,0.03125 -0.171875,0.09375 l -3.46875,9.5 C 0.546875,2.25 0.546875,2.28125 0.546875,2.296875 0.546875,2.40625 0.640625,2.5 0.75,2.5 0.875,2.5 0.90625,2.421875 0.96875,2.25 Z m 0,0"
                     id="path5848" />
                </symbol>
                <symbol
                   style="overflow:visible"
                   overflow="visible"
                   id="textext-f4fd63a1-4">
                  <path
                     inkscape:connector-curvature="0"
                     style="stroke:none"
                     d="M 3.890625,-3.734375 C 3.625,-3.71875 3.421875,-3.5 3.421875,-3.28125 c 0,0.140625 0.09375,0.296875 0.3125,0.296875 0.21875,0 0.453125,-0.171875 0.453125,-0.5625 C 4.1875,-4 3.765625,-4.40625 3,-4.40625 c -1.3125,0 -1.6875,1.015625 -1.6875,1.453125 0,0.78125 0.734375,0.921875 1.03125,0.984375 0.515625,0.109375 1.03125,0.21875 1.03125,0.765625 0,0.25 -0.21875,1.09375 -1.421875,1.09375 -0.140625,0 -0.90625,0 -1.140625,-0.53125 0.390625,0.046875 0.640625,-0.25 0.640625,-0.53125 0,-0.21875 -0.171875,-0.34375 -0.375,-0.34375 -0.265625,0 -0.5625,0.203125 -0.5625,0.65625 0,0.5625 0.578125,0.96875 1.421875,0.96875 1.625,0 2.015625,-1.203125 2.015625,-1.65625 0,-0.359375 -0.1875,-0.609375 -0.3125,-0.71875 -0.265625,-0.28125 -0.5625,-0.34375 -1,-0.421875 -0.359375,-0.078125 -0.75,-0.15625 -0.75,-0.609375 C 1.890625,-3.578125 2.125,-4.1875 3,-4.1875 c 0.25,0 0.75,0.078125 0.890625,0.453125 z m 0,0"
                     id="path5851" />
                </symbol>
              </g>
            </defs>
            <g
               id="textext-f4fd63a1-5">
              <g
                 style="fill:#000000;fill-opacity:1"
                 id="g5854">
                <use
                   height="100%"
                   width="100%"
                   xlink:href="#textext-f4fd63a1-1"
                   x="223.43201"
                   y="134.765"
                   id="use5856" />
              </g>
              <g
                 style="fill:#000000;fill-opacity:1"
                 id="g5858">
                <use
                   height="100%"
                   width="100%"
                   xlink:href="#textext-f4fd63a1-3"
                   x="228.41299"
                   y="134.765"
                   id="use5860" />
                <use
                   height="100%"
                   width="100%"
                   xlink:href="#textext-f4fd63a1-4"
                   x="233.3943"
                   y="134.765"
                   id="use5862" />
              </g>
            </g>
          </g>
          <g
             id="g6070"
             ns0:preamble=""
             ns0:text="$1/s$"
             transform="scale(4.8,4.8)">
            <defs
               id="defs6072">
              <g
                 id="g6074">
                <symbol
                   style="overflow:visible"
                   id="symbol6076"
                   overflow="visible">
                  <path
                     inkscape:connector-curvature="0"
                     id="path6078"
                     d=""
                     style="stroke:none" />
                </symbol>
                <symbol
                   style="overflow:visible"
                   id="symbol6080"
                   overflow="visible">
                  <path
                     inkscape:connector-curvature="0"
                     id="path6082"
                     d="m 2.9375,-6.375 c 0,-0.25 0,-0.265625 -0.234375,-0.265625 C 2.078125,-6 1.203125,-6 0.890625,-6 l 0,0.3125 c 0.203125,0 0.78125,0 1.296875,-0.265625 l 0,5.171875 c 0,0.359375 -0.03125,0.46875 -0.921875,0.46875 l -0.3125,0 0,0.3125 c 0.34375,-0.03125 1.203125,-0.03125 1.609375,-0.03125 0.390625,0 1.265625,0 1.609375,0.03125 l 0,-0.3125 -0.3125,0 c -0.90625,0 -0.921875,-0.109375 -0.921875,-0.46875 z m 0,0"
                     style="stroke:none" />
                </symbol>
                <symbol
                   style="overflow:visible"
                   id="symbol6084"
                   overflow="visible">
                  <path
                     inkscape:connector-curvature="0"
                     id="path6086"
                     d=""
                     style="stroke:none" />
                </symbol>
                <symbol
                   style="overflow:visible"
                   id="symbol6088"
                   overflow="visible">
                  <path
                     inkscape:connector-curvature="0"
                     id="path6090"
                     d="m 4.375,-7.09375 c 0.046875,-0.140625 0.046875,-0.171875 0.046875,-0.1875 0,-0.109375 -0.078125,-0.203125 -0.1875,-0.203125 -0.078125,0 -0.140625,0.03125 -0.171875,0.09375 l -3.46875,9.5 C 0.546875,2.25 0.546875,2.28125 0.546875,2.296875 0.546875,2.40625 0.640625,2.5 0.75,2.5 0.875,2.5 0.90625,2.421875 0.96875,2.25 Z m 0,0"
                     style="stroke:none" />
                </symbol>
                <symbol
                   style="overflow:visible"
                   id="symbol6092"
                   overflow="visible">
                  <path
                     inkscape:connector-curvature="0"
                     id="path6094"
                     d="M 3.890625,-3.734375 C 3.625,-3.71875 3.421875,-3.5 3.421875,-3.28125 c 0,0.140625 0.09375,0.296875 0.3125,0.296875 0.21875,0 0.453125,-0.171875 0.453125,-0.5625 C 4.1875,-4 3.765625,-4.40625 3,-4.40625 c -1.3125,0 -1.6875,1.015625 -1.6875,1.453125 0,0.78125 0.734375,0.921875 1.03125,0.984375 0.515625,0.109375 1.03125,0.21875 1.03125,0.765625 0,0.25 -0.21875,1.09375 -1.421875,1.09375 -0.140625,0 -0.90625,0 -1.140625,-0.53125 0.390625,0.046875 0.640625,-0.25 0.640625,-0.53125 0,-0.21875 -0.171875,-0.34375 -0.375,-0.34375 -0.265625,0 -0.5625,0.203125 -0.5625,0.65625 0,0.5625 0.578125,0.96875 1.421875,0.96875 1.625,0 2.015625,-1.203125 2.015625,-1.65625 0,-0.359375 -0.1875,-0.609375 -0.3125,-0.71875 -0.265625,-0.28125 -0.5625,-0.34375 -1,-0.421875 -0.359375,-0.078125 -0.75,-0.15625 -0.75,-0.609375 C 1.890625,-3.578125 2.125,-4.1875 3,-4.1875 c 0.25,0 0.75,0.078125 0.890625,0.453125 z m 0,0"
                     style="stroke:none" />
                </symbol>
              </g>
            </defs>
            <g
               id="g6096">
              <g
                 id="g6098"
                 style="fill:#000000;fill-opacity:1">
                <use
                   height="100%"
                   width="100%"
                   id="use6100"
                   y="134.765"
                   x="223.43201"
                   xlink:href="#textext-f4fd63a1-1" />
              </g>
              <g
                 id="g6102"
                 style="fill:#000000;fill-opacity:1">
                <use
                   height="100%"
                   width="100%"
                   id="use6104"
                   y="134.765"
                   x="228.41299"
                   xlink:href="#textext-f4fd63a1-3" />
                <use
                   height="100%"
                   width="100%"
                   id="use6106"
                   y="134.765"
                   x="233.3943"
                   xlink:href="#textext-f4fd63a1-4" />
              </g>
            </g>
          </g>
        </g>
      </g>
    </g>
    <g
       id="g5906"
       transform="translate(24.139976,-9.6961709)">
      <g
         id="g4884"
         ns0:preamble=""
         ns0:text="$x_0$\n"
         transform="matrix(4.8,0,0,4.8,-995.31693,317.52442)">
        <defs
           id="defs4886">
          <g
             id="g4888">
            <symbol
               style="overflow:visible"
               id="textext-bd75bb4b-0"
               overflow="visible">
              <path
                 inkscape:connector-curvature="0"
                 id="path4891"
                 d=""
                 style="stroke:none" />
            </symbol>
            <symbol
               style="overflow:visible"
               id="textext-bd75bb4b-1"
               overflow="visible">
              <path
                 inkscape:connector-curvature="0"
                 id="path4894"
                 d="M 3.328125,-3.015625 C 3.390625,-3.265625 3.625,-4.1875 4.3125,-4.1875 c 0.046875,0 0.296875,0 0.5,0.125 C 4.53125,-4 4.34375,-3.765625 4.34375,-3.515625 c 0,0.15625 0.109375,0.34375 0.375,0.34375 0.21875,0 0.53125,-0.171875 0.53125,-0.578125 0,-0.515625 -0.578125,-0.65625 -0.921875,-0.65625 -0.578125,0 -0.921875,0.53125 -1.046875,0.75 -0.25,-0.65625 -0.78125,-0.75 -1.078125,-0.75 -1.03125,0 -1.609375,1.28125 -1.609375,1.53125 0,0.109375 0.109375,0.109375 0.125,0.109375 0.078125,0 0.109375,-0.03125 0.125,-0.109375 0.34375,-1.0625 1,-1.3125 1.34375,-1.3125 0.1875,0 0.53125,0.09375 0.53125,0.671875 0,0.3125 -0.171875,0.96875 -0.53125,2.375 -0.15625,0.609375 -0.515625,1.03125 -0.953125,1.03125 -0.0625,0 -0.28125,0 -0.5,-0.125 0.25,-0.0625 0.46875,-0.265625 0.46875,-0.546875 0,-0.265625 -0.21875,-0.34375 -0.359375,-0.34375 -0.3125,0 -0.546875,0.25 -0.546875,0.578125 0,0.453125 0.484375,0.65625 0.921875,0.65625 0.671875,0 1.03125,-0.703125 1.046875,-0.75 0.125,0.359375 0.484375,0.75 1.078125,0.75 1.03125,0 1.59375,-1.28125 1.59375,-1.53125 0,-0.109375 -0.078125,-0.109375 -0.109375,-0.109375 -0.09375,0 -0.109375,0.046875 -0.140625,0.109375 -0.328125,1.078125 -1,1.3125 -1.3125,1.3125 -0.390625,0 -0.546875,-0.3125 -0.546875,-0.65625 0,-0.21875 0.046875,-0.4375 0.15625,-0.875 z m 0,0"
                 style="stroke:none" />
            </symbol>
            <symbol
               style="overflow:visible"
               id="textext-bd75bb4b-2"
               overflow="visible">
              <path
                 inkscape:connector-curvature="0"
                 id="path4897"
                 d=""
                 style="stroke:none" />
            </symbol>
            <symbol
               style="overflow:visible"
               id="textext-bd75bb4b-3"
               overflow="visible">
              <path
                 inkscape:connector-curvature="0"
                 id="path4900"
                 d="M 3.59375,-2.21875 C 3.59375,-2.984375 3.5,-3.546875 3.1875,-4.03125 2.96875,-4.34375 2.53125,-4.625 1.984375,-4.625 c -1.625,0 -1.625,1.90625 -1.625,2.40625 0,0.5 0,2.359375 1.625,2.359375 1.609375,0 1.609375,-1.859375 1.609375,-2.359375 z M 1.984375,-0.0625 c -0.328125,0 -0.75,-0.1875 -0.890625,-0.75 C 1,-1.21875 1,-1.796875 1,-2.3125 1,-2.828125 1,-3.359375 1.09375,-3.734375 1.25,-4.28125 1.6875,-4.4375 1.984375,-4.4375 c 0.375,0 0.734375,0.234375 0.859375,0.640625 0.109375,0.375 0.125,0.875 0.125,1.484375 0,0.515625 0,1.03125 -0.09375,1.46875 -0.140625,0.640625 -0.609375,0.78125 -0.890625,0.78125 z m 0,0"
                 style="stroke:none" />
            </symbol>
          </g>
        </defs>
        <g
           id="textext-bd75bb4b-4">
          <g
             id="g4903"
             style="fill:#000000;fill-opacity:1">
            <use
               height="100%"
               width="100%"
               id="use4905"
               y="134.765"
               x="223.43201"
               xlink:href="#textext-bd75bb4b-1" />
          </g>
          <g
             id="g4907"
             style="fill:#000000;fill-opacity:1">
            <use
               height="100%"
               width="100%"
               id="use4909"
               y="136.259"
               x="229.12601"
               xlink:href="#textext-bd75bb4b-3" />
          </g>
        </g>
      </g>
      <g
         transform="matrix(4.8,0,0,4.8,-502.747,128.23102)"
         ns0:text="$x_f$\n"
         ns0:preamble=""
         id="g5273">
        <defs
           id="defs5275">
          <g
             id="g5277">
            <symbol
               style="overflow:visible"
               overflow="visible"
               id="textext-d2cb3077-0">
              <path
                 inkscape:connector-curvature="0"
                 style="stroke:none"
                 d=""
                 id="path5280" />
            </symbol>
            <symbol
               style="overflow:visible"
               overflow="visible"
               id="textext-d2cb3077-1">
              <path
                 inkscape:connector-curvature="0"
                 style="stroke:none"
                 d="M 3.328125,-3.015625 C 3.390625,-3.265625 3.625,-4.1875 4.3125,-4.1875 c 0.046875,0 0.296875,0 0.5,0.125 C 4.53125,-4 4.34375,-3.765625 4.34375,-3.515625 c 0,0.15625 0.109375,0.34375 0.375,0.34375 0.21875,0 0.53125,-0.171875 0.53125,-0.578125 0,-0.515625 -0.578125,-0.65625 -0.921875,-0.65625 -0.578125,0 -0.921875,0.53125 -1.046875,0.75 -0.25,-0.65625 -0.78125,-0.75 -1.078125,-0.75 -1.03125,0 -1.609375,1.28125 -1.609375,1.53125 0,0.109375 0.109375,0.109375 0.125,0.109375 0.078125,0 0.109375,-0.03125 0.125,-0.109375 0.34375,-1.0625 1,-1.3125 1.34375,-1.3125 0.1875,0 0.53125,0.09375 0.53125,0.671875 0,0.3125 -0.171875,0.96875 -0.53125,2.375 -0.15625,0.609375 -0.515625,1.03125 -0.953125,1.03125 -0.0625,0 -0.28125,0 -0.5,-0.125 0.25,-0.0625 0.46875,-0.265625 0.46875,-0.546875 0,-0.265625 -0.21875,-0.34375 -0.359375,-0.34375 -0.3125,0 -0.546875,0.25 -0.546875,0.578125 0,0.453125 0.484375,0.65625 0.921875,0.65625 0.671875,0 1.03125,-0.703125 1.046875,-0.75 0.125,0.359375 0.484375,0.75 1.078125,0.75 1.03125,0 1.59375,-1.28125 1.59375,-1.53125 0,-0.109375 -0.078125,-0.109375 -0.109375,-0.109375 -0.09375,0 -0.109375,0.046875 -0.140625,0.109375 -0.328125,1.078125 -1,1.3125 -1.3125,1.3125 -0.390625,0 -0.546875,-0.3125 -0.546875,-0.65625 0,-0.21875 0.046875,-0.4375 0.15625,-0.875 z m 0,0"
                 id="path5283" />
            </symbol>
            <symbol
               style="overflow:visible"
               overflow="visible"
               id="textext-d2cb3077-2">
              <path
                 inkscape:connector-curvature="0"
                 style="stroke:none"
                 d=""
                 id="path5286" />
            </symbol>
            <symbol
               style="overflow:visible"
               overflow="visible"
               id="textext-d2cb3077-3">
              <path
                 inkscape:connector-curvature="0"
                 style="stroke:none"
                 d="m 2.84375,-2.75 0.671875,0 C 3.65625,-2.75 3.75,-2.75 3.75,-2.90625 3.75,-3 3.65625,-3 3.53125,-3 l -0.640625,0 c 0.15625,-0.890625 0.203125,-1.203125 0.265625,-1.40625 0.03125,-0.15625 0.1875,-0.296875 0.359375,-0.296875 0,0 0.1875,0 0.328125,0.078125 -0.296875,0.09375 -0.3125,0.34375 -0.3125,0.375 0,0.15625 0.125,0.265625 0.28125,0.265625 0.1875,0 0.390625,-0.15625 0.390625,-0.421875 0,-0.328125 -0.328125,-0.5 -0.6875,-0.5 -0.3125,0 -0.65625,0.171875 -0.84375,0.515625 C 2.53125,-4.125 2.484375,-3.8125 2.328125,-3 L 1.78125,-3 c -0.140625,0 -0.234375,0 -0.234375,0.15625 0,0.09375 0.09375,0.09375 0.21875,0.09375 l 0.515625,0 c 0,0.046875 -0.4375,2.546875 -0.609375,3.296875 -0.03125,0.15625 -0.15625,0.671875 -0.484375,0.671875 -0.015625,0 -0.171875,0 -0.3125,-0.078125 0.28125,-0.09375 0.3125,-0.34375 0.3125,-0.375 C 1.1875,0.609375 1.0625,0.5 0.90625,0.5 c -0.1875,0 -0.390625,0.15625 -0.390625,0.421875 0,0.3125 0.328125,0.5 0.671875,0.5 0.4375,0 0.75,-0.453125 0.828125,-0.609375 0.25,-0.46875 0.421875,-1.328125 0.4375,-1.40625 z m 0,0"
                 id="path5289" />
            </symbol>
          </g>
        </defs>
        <g
           id="textext-d2cb3077-4">
          <g
             style="fill:#000000;fill-opacity:1"
             id="g5292">
            <use
               height="100%"
               width="100%"
               xlink:href="#textext-d2cb3077-1"
               x="223.43201"
               y="134.765"
               id="use5294" />
          </g>
          <g
             style="fill:#000000;fill-opacity:1"
             id="g5296">
            <use
               height="100%"
               width="100%"
               xlink:href="#textext-d2cb3077-3"
               x="229.12601"
               y="136.259"
               id="use5298" />
          </g>
        </g>
      </g>
      <path
         sodipodi:nodetypes="csc"
         inkscape:connector-curvature="0"
         inkscape:original-d="m 150,1002.3622 c 0,0 175.07207,-9.89977 250,-49.99998 62.34381,-33.36539 149.99999,-149.99999 149.99999,-149.99999"
         inkscape:path-effect="#path-effect5554"
         id="path5552"
         d="m 150,1002.3622 c 85.80015,10.725 174.92487,-7.09991 250,-49.99998 62.12548,-35.50027 114.49972,-87.87451 149.99999,-149.99999"
         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-start:url(#DotL);marker-mid:url(#Arrow2Lend);marker-end:url(#marker5848)" />
    </g>
  </g>
</svg>