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GH = [P1, P4, R1, R4]T

x(t) = T AH = T MH GH

T = [t3 t2 t 1]

x(0) = P1x = [ 0 0 0 1 ] MH GHx

x(1) = P4x = [ 1 1 1 1 ] MH GHx

x'(0) = R1x = [ 0 0 1 0 ] MH GHx

x'(1) = R4x = [ 3 2 1 0 ] MH GHx

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