{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "          3\n",
      "---------------------\n",
      "s^3 + 3 s^2 + 2 s + 3\n",
      "\n",
      "[-2.67169988+0.j         -0.16415006+1.04686932j -0.16415006-1.04686932j]\n"
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "(array([-2.67169988+0.j        , -0.16415006+1.04686932j,\n",
       "        -0.16415006-1.04686932j]),\n",
       " array([], dtype=float64))"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "import numpy as np\n",
    "from scipy.signal import lsim\n",
    "import control as ctl\n",
    "from control import (TransferFunction)\n",
    "\n",
    "\n",
    "t = np.linspace(0, 20, 1001)\n",
    "\n",
    "G1 = TransferFunction(3, [1,3,2,3])\n",
    "print(G1)\n",
    "\n",
    "poles_G1= ctl.pole(G1)\n",
    "print(poles_G1)\n",
    "\n",
    "plt.figure(1)\n",
    "tout, yout = ctl.step_response(G1, t, X0=0)\n",
    "plt.plot(tout, yout, 'k', linewidth=1.5, label='resposta')\n",
    "plt.legend(loc='best', shadow=True, framealpha=1)\n",
    "plt.grid(alpha=0.3)\n",
    "plt.xlabel('t')\n",
    "plt.show()\n",
    "\n",
    "plt.figure(2)\n",
    "ctl.pzmap(G1, Plot=True, grid=False, title='Pole Zero Map')\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "          7\n",
      "---------------------\n",
      "s^3 + 3 s^2 + 2 s + 7\n",
      "\n",
      "[-3.08674534+0.j          0.04337267+1.50528389j  0.04337267-1.50528389j]\n"
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "(array([-3.08674534+0.j        ,  0.04337267+1.50528389j,\n",
       "         0.04337267-1.50528389j]),\n",
       " array([], dtype=float64))"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "G2 = TransferFunction(7, [1,3,2,7])\n",
    "print(G2)\n",
    "\n",
    "poles_G2= ctl.pole(G2)\n",
    "print(poles_G2)\n",
    "\n",
    "\n",
    "\n",
    "plt.figure(3)\n",
    "tout, yout = ctl.step_response(G2, t, X0=0)\n",
    "plt.plot(tout, yout, 'k', linewidth=1.5, label='resposta')\n",
    "plt.legend(loc='best', shadow=True, framealpha=1)\n",
    "plt.grid(alpha=0.3)\n",
    "plt.xlabel('t')\n",
    "plt.show()\n",
    "\n",
    "plt.figure(4)\n",
    "ctl.pzmap(G2, Plot=True, grid=False, title='Pole Zero Map')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(array([[-2.00000000e+00+0.00000000e+00j, -1.00000000e+00+0.00000000e+00j,\n",
       "          0.00000000e+00+0.00000000e+00j],\n",
       "        [-2.04502589e+00+0.00000000e+00j, -9.02858276e-01+0.00000000e+00j,\n",
       "         -5.21158385e-02+0.00000000e+00j],\n",
       "        [-2.08506358e+00+0.00000000e+00j, -7.99488356e-01+0.00000000e+00j,\n",
       "         -1.15448069e-01+0.00000000e+00j],\n",
       "        [-2.12135386e+00+0.00000000e+00j, -6.77910893e-01+0.00000000e+00j,\n",
       "         -2.00735252e-01+0.00000000e+00j],\n",
       "        [-2.15470054e+00+0.00000000e+00j, -4.22649731e-01-1.25716897e-08j,\n",
       "         -4.22649731e-01+1.25716897e-08j],\n",
       "        [-2.17433401e+00+0.00000000e+00j, -4.12832997e-01-1.85189815e-01j,\n",
       "         -4.12832997e-01+1.85189815e-01j],\n",
       "        [-2.19313782e+00+0.00000000e+00j, -4.03431091e-01-2.60160316e-01j,\n",
       "         -4.03431091e-01+2.60160316e-01j],\n",
       "        [-2.21119796e+00+0.00000000e+00j, -3.94401021e-01-3.16623388e-01j,\n",
       "         -3.94401021e-01+3.16623388e-01j],\n",
       "        [-2.22858676e+00+0.00000000e+00j, -3.85706620e-01-3.63413082e-01j,\n",
       "         -3.85706620e-01+3.63413082e-01j],\n",
       "        [-2.29253802e+00+0.00000000e+00j, -3.53730990e-01-5.02982008e-01j,\n",
       "         -3.53730990e-01+5.02982008e-01j],\n",
       "        [-2.34942771e+00+0.00000000e+00j, -3.25286143e-01-6.04744876e-01j,\n",
       "         -3.25286143e-01+6.04744876e-01j],\n",
       "        [-2.40098130e+00+0.00000000e+00j, -2.99509350e-01-6.87067283e-01j,\n",
       "         -2.99509350e-01+6.87067283e-01j],\n",
       "        [-2.46624379e+00+0.00000000e+00j, -2.66878106e-01-7.82561904e-01j,\n",
       "         -2.66878106e-01+7.82561904e-01j],\n",
       "        [-2.52526949e+00+0.00000000e+00j, -2.37365254e-01-8.63038394e-01j,\n",
       "         -2.37365254e-01+8.63038394e-01j],\n",
       "        [-2.57939494e+00+0.00000000e+00j, -2.10302530e-01-9.33202165e-01j,\n",
       "         -2.10302530e-01+9.33202165e-01j],\n",
       "        [-2.62954633e+00+0.00000000e+00j, -1.85226837e-01-9.95774030e-01j,\n",
       "         -1.85226837e-01+9.95774030e-01j],\n",
       "        [-2.80164721e+00+0.00000000e+00j, -9.91763931e-02-1.19768506e+00j,\n",
       "         -9.91763931e-02+1.19768506e+00j],\n",
       "        [-2.94327716e+00+0.00000000e+00j, -2.83614195e-02-1.35360430e+00j,\n",
       "         -2.83614195e-02+1.35360430e+00j],\n",
       "        [-3.06528313e+00+0.00000000e+00j,  3.26415630e-02-1.48291800e+00j,\n",
       "          3.26415630e-02+1.48291800e+00j],\n",
       "        [-3.17338008e+00+0.00000000e+00j,  8.66900404e-02-1.59458011e+00j,\n",
       "          8.66900404e-02+1.59458011e+00j],\n",
       "        [-3.27100007e+00+0.00000000e+00j,  1.35500035e-01-1.69354096e+00j,\n",
       "          1.35500035e-01+1.69354096e+00j],\n",
       "        [-3.36038738e+00+0.00000000e+00j,  1.80193689e-01-1.78285485e+00j,\n",
       "          1.80193689e-01+1.78285485e+00j],\n",
       "        [-3.44310072e+00+0.00000000e+00j,  2.21550362e-01-1.86455246e+00j,\n",
       "          2.21550362e-01+1.86455246e+00j],\n",
       "        [-3.52027252e+00+0.00000000e+00j,  2.60136260e-01-1.94005932e+00j,\n",
       "          2.60136260e-01+1.94005932e+00j],\n",
       "        [-3.59275475e+00+0.00000000e+00j,  2.96377375e-01-2.01041859e+00j,\n",
       "          2.96377375e-01+2.01041859e+00j],\n",
       "        [-3.66120661e+00+0.00000000e+00j,  3.30603304e-01-2.07641890e+00j,\n",
       "          3.30603304e-01+2.07641890e+00j],\n",
       "        [-3.72614995e+00+0.00000000e+00j,  3.63074974e-01-2.13867252e+00j,\n",
       "          3.63074974e-01+2.13867252e+00j],\n",
       "        [-3.78800588e+00+0.00000000e+00j,  3.94002938e-01-2.19766526e+00j,\n",
       "          3.94002938e-01+2.19766526e+00j],\n",
       "        [-3.84711976e+00+0.00000000e+00j,  4.23559878e-01-2.25378974e+00j,\n",
       "          4.23559878e-01+2.25378974e+00j],\n",
       "        [-3.90377880e+00+0.00000000e+00j,  4.51889400e-01-2.30736830e+00j,\n",
       "          4.51889400e-01+2.30736830e+00j],\n",
       "        [-3.95822476e+00+0.00000000e+00j,  4.79112380e-01-2.35866918e+00j,\n",
       "          4.79112380e-01+2.35866918e+00j],\n",
       "        [-4.01066329e+00+0.00000000e+00j,  5.05331646e-01-2.40791821e+00j,\n",
       "          5.05331646e-01+2.40791821e+00j],\n",
       "        [-4.06127099e+00+0.00000000e+00j,  5.30635495e-01-2.45530753e+00j,\n",
       "          5.30635495e-01+2.45530753e+00j],\n",
       "        [-4.11020075e+00+0.00000000e+00j,  5.55100377e-01-2.50100211e+00j,\n",
       "          5.55100377e-01+2.50100211e+00j],\n",
       "        [-4.15758597e+00+0.00000000e+00j,  5.78792983e-01-2.54514476e+00j,\n",
       "          5.78792983e-01+2.54514476e+00j],\n",
       "        [-4.20354377e+00+0.00000000e+00j,  6.01771883e-01-2.58786002e+00j,\n",
       "          6.01771883e-01+2.58786002e+00j],\n",
       "        [-4.24817765e+00+0.00000000e+00j,  6.24088827e-01-2.62925722e+00j,\n",
       "          6.24088827e-01+2.62925722e+00j],\n",
       "        [-4.29157959e+00+0.00000000e+00j,  6.45789794e-01-2.66943292e+00j,\n",
       "          6.45789794e-01+2.66943292e+00j],\n",
       "        [-4.33383169e+00+0.00000000e+00j,  6.66915844e-01-2.70847287e+00j,\n",
       "          6.66915844e-01+2.70847287e+00j],\n",
       "        [-4.37500763e+00+0.00000000e+00j,  6.87503815e-01-2.74645360e+00j,\n",
       "          6.87503815e-01+2.74645360e+00j],\n",
       "        [-4.41517379e+00+0.00000000e+00j,  7.07586895e-01-2.78344373e+00j,\n",
       "          7.07586895e-01+2.78344373e+00j],\n",
       "        [-4.45439022e+00+0.00000000e+00j,  7.27195109e-01-2.81950507e+00j,\n",
       "          7.27195109e-01+2.81950507e+00j],\n",
       "        [-4.49271142e+00+0.00000000e+00j,  7.46355712e-01-2.85469347e+00j,\n",
       "          7.46355712e-01+2.85469347e+00j],\n",
       "        [-4.53018707e+00+0.00000000e+00j,  7.65093537e-01-2.88905964e+00j,\n",
       "          7.65093537e-01+2.88905964e+00j],\n",
       "        [-4.56686255e+00+0.00000000e+00j,  7.83431275e-01-2.92264971e+00j,\n",
       "          7.83431275e-01+2.92264971e+00j],\n",
       "        [-4.60277945e+00+0.00000000e+00j,  8.01389727e-01-2.95550585e+00j,\n",
       "          8.01389727e-01+2.95550585e+00j],\n",
       "        [-4.63797602e+00+0.00000000e+00j,  8.18988011e-01-2.98766667e+00j,\n",
       "          8.18988011e-01+2.98766667e+00j],\n",
       "        [-4.67248749e+00+0.00000000e+00j,  8.36243743e-01-3.01916764e+00j,\n",
       "          8.36243743e-01+3.01916764e+00j],\n",
       "        [-4.70634640e+00+0.00000000e+00j,  8.53173200e-01-3.05004143e+00j,\n",
       "          8.53173200e-01+3.05004143e+00j],\n",
       "        [-4.73958290e+00+0.00000000e+00j,  8.69791450e-01-3.08031820e+00j,\n",
       "          8.69791450e-01+3.08031820e+00j],\n",
       "        [-4.77222495e+00+0.00000000e+00j,  8.86112476e-01-3.11002585e+00j,\n",
       "          8.86112476e-01+3.11002585e+00j],\n",
       "        [-4.80429856e+00+0.00000000e+00j,  9.02149281e-01-3.13919029e+00j,\n",
       "          9.02149281e-01+3.13919029e+00j],\n",
       "        [-4.83582796e+00+0.00000000e+00j,  9.17913979e-01-3.16783555e+00j,\n",
       "          9.17913979e-01+3.16783555e+00j],\n",
       "        [-4.86683575e+00+0.00000000e+00j,  9.33417875e-01-3.19598405e+00j,\n",
       "          9.33417875e-01+3.19598405e+00j],\n",
       "        [-4.89734308e+00+0.00000000e+00j,  9.48671540e-01-3.22365667e+00j,\n",
       "          9.48671540e-01+3.22365667e+00j],\n",
       "        [-4.92736975e+00+0.00000000e+00j,  9.63684876e-01-3.25087294e+00j,\n",
       "          9.63684876e-01+3.25087294e+00j],\n",
       "        [-4.95693434e+00+0.00000000e+00j,  9.78467169e-01-3.27765114e+00j,\n",
       "          9.78467169e-01+3.27765114e+00j],\n",
       "        [-4.98605429e+00+0.00000000e+00j,  9.93027144e-01-3.30400841e+00j,\n",
       "          9.93027144e-01+3.30400841e+00j],\n",
       "        [-5.01474602e+00+0.00000000e+00j,  1.00737301e+00-3.32996084e+00j,\n",
       "          1.00737301e+00+3.32996084e+00j],\n",
       "        [-5.04302499e+00+0.00000000e+00j,  1.02151250e+00-3.35552356e+00j,\n",
       "          1.02151250e+00+3.35552356e+00j],\n",
       "        [-5.07090581e+00+0.00000000e+00j,  1.03545290e+00-3.38071081e+00j,\n",
       "          1.03545290e+00+3.38071081e+00j],\n",
       "        [-5.09840223e+00+0.00000000e+00j,  1.04920112e+00-3.40553603e+00j,\n",
       "          1.04920112e+00+3.40553603e+00j],\n",
       "        [-5.12552731e+00+0.00000000e+00j,  1.06276365e+00-3.43001190e+00j,\n",
       "          1.06276365e+00+3.43001190e+00j],\n",
       "        [-9.74884802e+00+0.00000000e+00j,  3.37442401e+00-7.51044314e+00j,\n",
       "          3.37442401e+00+7.51044314e+00j],\n",
       "        [-1.97841393e+01+0.00000000e+00j,  8.39206966e+00-1.62367767e+01j,\n",
       "          8.39206966e+00+1.62367767e+01j],\n",
       "        [-4.14391783e+01+0.00000000e+00j,  1.92195891e+01-3.50070758e+01j,\n",
       "          1.92195891e+01+3.50070758e+01j]]),\n",
       " array([0.00000000e+00, 9.62250449e-02, 1.92450090e-01, 2.88675135e-01,\n",
       "        3.84900179e-01, 4.45143467e-01, 5.05386755e-01, 5.65630043e-01,\n",
       "        6.25873331e-01, 8.66846483e-01, 1.10781964e+00, 1.34879279e+00,\n",
       "        1.68599098e+00, 2.02318918e+00, 2.36038738e+00, 2.69758557e+00,\n",
       "        4.04637836e+00, 5.39517115e+00, 6.74396394e+00, 8.09275672e+00,\n",
       "        9.44154951e+00, 1.07903423e+01, 1.21391351e+01, 1.34879279e+01,\n",
       "        1.48367207e+01, 1.61855134e+01, 1.75343062e+01, 1.88830990e+01,\n",
       "        2.02318918e+01, 2.15806846e+01, 2.29294774e+01, 2.42782702e+01,\n",
       "        2.56270630e+01, 2.69758557e+01, 2.83246485e+01, 2.96734413e+01,\n",
       "        3.10222341e+01, 3.23710269e+01, 3.37198197e+01, 3.50686125e+01,\n",
       "        3.64174053e+01, 3.77661980e+01, 3.91149908e+01, 4.04637836e+01,\n",
       "        4.18125764e+01, 4.31613692e+01, 4.45101620e+01, 4.58589548e+01,\n",
       "        4.72077475e+01, 4.85565403e+01, 4.99053331e+01, 5.12541259e+01,\n",
       "        5.26029187e+01, 5.39517115e+01, 5.53005043e+01, 5.66492971e+01,\n",
       "        5.79980898e+01, 5.93468826e+01, 6.06956754e+01, 6.20444682e+01,\n",
       "        6.33932610e+01, 6.47420538e+01, 6.60908466e+01, 6.60908466e+02,\n",
       "        6.60908466e+03, 6.60908466e+04]))"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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KSqWioKCAuLg4rl+/jsFgwGq13vd8i8WCTqejq6uLvLw8kpKSvO7WuhQKhYJt27ah1+vddZs3A5IkcfDgwU1XXhXwqQj0m1oDH/tBA6nRIbzy0bXVNFgLAYUQwCsslLbUaDRcvXqV27dvL9qcdTqdzMzMUFdXR3BwMJWVlX7h+19QUEBRURHXrl17oKLzJyRJwmAwMD097W1RPIqv1EPon57nIy/VE64J4kd/sY+4cO99zwMKIYBXUavV1NTUsHPnTq5evUpLSwsDAwOcPXuWqKgoampq/C4vlUKhYO/evXR2duJ0Or0tjkeoqKjA5XJtKo8qX4hDGDdY+fCL13DJgh/9+T5So72baSGgEAL4BJIksX//fqxWKxaLhbS0NJ80DS2XkJAQiouLaWpq4tatW94WZ80oFAqcTictLS3eFsVjeNvtVG+289RL19DN23nlY5XsTPR+fYaAQgjgEyzUJ9i+fTu7du0iPDyc6elpent7/XpWum/fPhISEhgcHPR719TU1FRSU1M3zarHm2krzHYnH325gYFpM//2kXL2pvlGkFxAIQTwOv39/dTW1lJaWkpi4p0sjpmZmcTHx+Nyueju7sZkMnlZytWTkJBASEgIFy5c8LYoayY6Oprz5897WwyPMDAw4JX73slc2kzrsJ5/erKEAzt8x1XZ7xXCM888w6FDh/jUpz616Pjp06fZv38/NTU1bg+Jl156iezsbD70oQ95Q9QAb0GWZUZHR1GpVBw4cOCedkmSyM3NJS8vj6GhIS5evOi3q4XExERqampob29nfHzc2+KsmuDgYHbs2IHNZvO2KGtm165dG35PWRb8t/9s5dKbmUsfK9y24TI8CL9WCM3NzczPz3P58mXsdru7HCLAP/7jP3L27Fl+8pOf8MUvfhGAd77znZw+fdpb4ga4CyEE586dIygoiLS0tIfGFBQUFHD48GGGhoY4c+aMX6ZUkCSJwsJCtFqtX+cJ2r59Oy0tLT6Z8nwlbPQKQQjBl35zk/9q1fK5x/J5f0XGht5/Ofi1Qrh69SonTpwA4MSJE9TVLa6lExYWRnJysjtEPT4+fksU/vB1BgYG6Orq4vjx4yQlJS37fZIkkZmZyeHDh5FlmYsXL/qdYpAkidLSUkZGRrh48aLf7ivs2rXL72MTLBbLht7v2+d6eOXqIH9xMJunj6x/5tLV4NcKQa/XExkZCUBUVBQ6nW5R+8TEBJ2dnXR0dHhDvABvQQjB3NwcRqORvLy8VUcaBwcHEx4eTkVFBdPT03R0dPidCWP79u0UFxej1Wr9TqkBREZGkpKSwsTEhLdFWTUbGYfw47pBvnG6m/eUpvL3b9vlM1H2b8WvFUJ0dDRGoxEAo9G4KJ3tV7/6VZ544gmef/55qqurvSVigDex2Wy89tprmM1m9u7d65F/iNDQUDIyMkhJSaGxsRGTyeRXHjBRUVEkJCRw+fJlvzS/xMTE0Nzc7Lf7OhsVh/C79jH+55vJ6v7X43s3NFndSvFrhVBVVcXZs2cBOHPmDPv371/Udv78eZ599lmvbB4F+ANDQ0Po9XqOHTvm9iLyJFFRUVRXV+NwODh//jw6nc5vBim1Ws3JkyeZmJigvb3d2+KsCIVCwSOPPMLk5KS3RVkV6/FdfCu1vdN8+mctlGbE8J0PlKJS+vaQ69vSPQCTyURYWBhqtZpDhw6hUCjIyMjgueeeA+C5556jpqaGz3/+83zhC18A4Le//S0f+tCHOHv2LI8//rg3xd8SCCGYnZ1lamqKxMTEdU89ERsbyyOPPEJYWBivv/46/f3963o/T5KWloZGo0Gv1+NyubwtzrIJCgqis7PTvVL3J4KDg9f1+jdGDXzih01kxoXy4kfKCQn2/UBLv01/XV5eLk6fPo3ZbKarq4v8/Hzgjs93oEaC9zGbzVy8eJFDhw4RHu6dCEyLxcKNGzdISEggKyvLKzKsFL1eT21tLUePHl23qm+exm63YzQa/S7194ULFzh69Oi6XHtwZp7Hv3uVYKXEL/6vAyRHeTclxd08KP21XyuExsbGRccGBwcZGRkhPz+fzs5O8vPzvR6evhVZiC2IjIxEo9F4VRYhBH19fWg0GhQKhVcK6awUu92OwWDAbreTmprqbXGWxe3bt5Flmby8PG+Lsmymp6fXRYlNmWz86fdqMVgc/PzpKnYmei8ieik2ZT2EpcjMzKS6upq4uDjKyspQKpW0tLRw9uxZzGYzMzMzfmNb9ld6enoYGxsjISHB68oA7rh57tixg+TkZCYmJpienmZ2dtbbYj2Q4OBg4uPjGR4e9hv7fE5OjrdFWDHd3d0ev+aczclHX65nwmjlpT+r8Dll8DA2rVO+RqNBo9FQXFwM3Jl1DQ8PMz4+TlBQEHa7nby8vHW3I24VzGYzdXV11NTU+KRLnUKhoLi4GJfLRWNjI2FhYezevdtnCy0tJPszm82cO3eOI0eO+Hyyv507d3LlyhW/8erz9F6N3Snz9I+a6Bgz8cJT5ZRmrH99b0+zaRXCWwkODnYrByEEU1NTOJ1O3njjDaKiotzKIaAgVo7JZGJ8fJwDBw74pDK4G6VSyb59+4A/RLofPHjQZ+UODQ2lpKSEiYkJoqKifDoVuFKpJCwsDLPZ7Bf7H3v27PHYtWRZ8N9/3sobPdN87U/3UpO//h5M64FvTo/WGUmSSExMJDQ0lGPHjlFaWorVauXatWtMTk5SX1+/acsGepqOjg46OjrIycnxCRPRSigtLaWyshKtVkttba3PppOIiYkhMTGRK1eu+FzZx7dSXFzMwMCAX0RgezKV9/OvdfKrFi1/dzKP95ane+y6G82m2lT2FDabjfHxcTQaDTdu3CA3N5fo6GjCw8N9dibpDSYmJggJCXFHi/szer0eWZYZGBigqKjIJ80zQggsFgt9fX0UFhZ6W5z7Mjk5ydDQEOXlS+5b+gwLZVnXyotv9PPl397iqapMvvTOAp8fIx60qewzJiNJktKBHwLbABn4VyHEt7whi1qtJjMzE4CkpCSEEHR1dTE2NkZJSQmDg4Ns377dq/nUvY1Wq6W3t5dDhw55WxSPsBDl7nA46OzsJCEhgYSEBJ/655YkidDQUEJDQz02mK0HiYmJaDQajEbjppgsPIjftGr58m9v8VjBNr74Dt9XBg/Dl0xGTuCzQohdwH7gryVJ2u1lmYA7/4j5+fnU1NQQFRVFWloaJpOJGzducP78eSwWy6apn7scpqen0Wg0HDx40NuieJykpCQKCgqw2WycPXsWp9Ppc55p27dvJzc3l9OnT/tsQFhISAi1tbU+13d3MzY2tqb31/XN8Nn/aKUyK5ZvPlGM0odTUiwXnzUZSZL0a+A7Qogl81Wvp8loJciyjMPhoKGhgcjISKKiohBCkJ6e7pNmh7ViMpmora3lkUce8VkPHU8yOTlJc3MzlZWVxMbGelucRTgcDkZHR4mOjl6Ux8tXmJ2dJTQ01Gf3lvR6/ar7rXvCxOPfrSUpUsPPn64iOtR/nFH8Lg5BkqQsoAS45l1JHo5CoUCtVnPw4EH27t1LSkoKLpeLubk5zp8/T3NzMw6Hw6dnSstlfn6eubk5jh8/viWUAdwxf5w8eZKwsDDOnDnjU3EBKpWKrKwsenp6aGtr87Y49xAbG8vly5d9avUshECWZaxW66o3lSeMVv7spXpCVEpe/miFXymDh+FzKwRJksKBi8BzQohX39L2CeATABkZGWWDg4NekHBlOBwOZmZmuHXrFrt27cJgMLBt2zafnNE9CJfLxalTpzhx4sSWdc11uVxMTk4yOztLamqqT32GdrudW7duUVhY6FM1P+bn59Hr9R6LuLbZbFitVmw2G2NjY2RkZNDb24vZbKaoqIjr16+zbds2FAoFWq2WvXv3cuvWLbfZt729nfT0dCRJor+/n+PHj6/o/iarg/d9v46hmXn+/S+rKEyN8shzbSR+k7pCkiQV8FvglBDiGw8611dMRitldnaW4eFhUlNTaWtrIz8/n6SkJJ82LzmdToaGhsjMzPRpOTcKu91OS0sLOTk5BAcH+0xsgMFgoKuri4qKCp/a3Ozp6UGj0ZCWlras84UQmM1mRkZGiIqKQqvVYjAYKCsro729nbS0NOLi4rDb7W7HjqCgoBU/80pTVzhcMh97uYHa3hle+rMKjuQmrOh+voJfKATpzqf5CjArhPj0w873V4VwN0IIbDYb3d3dTE9PU1FRwdTUFBkZGT41yzt79iwVFRWb3mNkpVgsFhoaGsjLyyM2NtZnkirW1dWxbds2n0noJ4Sgvr7eHRC4cMxoNCLLMjMzMwwPD1NWVkZTUxMRERHk5OQwPz9PfHz8uq1IV5LcTgjBf/95G//ZNMJXH9/L+yr8ONbATxTCQeAy0M4dt1OAvxdC/G6p8zeDQngrLpeLoaEhnE4nTqcTnU5HSUkJarXaKzZ7IQQdHR3k5+dvmT2D1SDLMhcuXCAhIcGj0a+rRQjB4OAg4eHhxMXF+cRqwWw209HRgcPhwGazUVRURF9fH+np6URHR69qhr9Wenp62Llz57LO/aezt/nG6W7+9ngOn3kkd50lW1/8Ig5BCPEG4P1vrhdRKpVkZ2e7X1ssFiRJ4uLFi0RHR5OWloZSqSQmJmZD/nmamppITU0NKIOHoFAoOHbsGE6nk9bWVmRZpqioyGv9JkkSWVlZDA0N0dbWxrFjxzZcBiEEvb296PV6kpOTGRgYwGKxUFFRQVTUHbt7aWnphst1N8uNTP/l9RF3+ctnTvhfEr+V4DMrhJWyGVcID8NkMtHT00N6ejq3bt0iISGB/Pz8dVEObW1tFBYWBpTBKlioMzwzM8OuXd6tn+t0Orl9+zbJycnrugnudDoxGo3Mzs4yNDRESUkJc3NzpKSkuPedZFlmbGyMlJQUn1i1LMdkVNc3w4dfvEZ5ZiyvfKyS4CD//3/wC5PRStmKCuFuhBDo9XqsViu3bt0iLy8PhULhEZtrf3+/OxtsgNUzMDCAWq3G6XSSnu49m7PT6eTatWtUVVV5VMGPj4/T09PDnj17aGlpYceOHaSmpj5wsB8YGMBkMvmEac1kMj0w20Dv1Bzv+Zda4sODefWvqokK9Y09orUSUAhbhJGREQYGBigoKODmzZvk5eWRkLAyT4iOjg4yMjJ8xnPG3xFC0N3dzfz8PIWFhV512b19+zY6nW7VXkiyLDM/P8+1a9fIzMwkOjqayMjIFZdGnZmZISIiwuvuyw9aIczO2/mTf7nCnNXJr/66mvRY38/eulz8Yg8hwNpJS0tzu/ZVVFRgsVhoa2tjamrKnVs/Pj7+voOBwWBw16oO4BkkSXKvtLq6uhgcHOT48eNecd/NyclhbGyMyclJYmJilj0gO51Obt26xdTUFIcPH+b48eNrMvmEhoZy+fLlFccAeJqQkKXLWtqcLv7yR42MGaz87BP7N5UyeBgBhbBJUavVqNXqRUnbent7GR8fR61WY7FYyM/Pd8/uRkZGEEJQWVnpTbE3NXl5eeTk5DA7O0trayuVlZUbniAxOTmZubk5zpw5w/Hjx+87u7fZbDgcDq5evUp2djZ79uzxmN0/JCSE7du343K5vBrXspRbrhCC//GLdhoGdHz7yRK/LHKzFgImoy2IEIKZmRlCQ0Opq6sjLCyMubk5qqurfTbvzGbDZrNhs9m4ceMGxcXFG15QRpZlxsfHMZvNbtdLIQTz8/MMDg4yPT1NVVXVupp1Ll26xIEDB7wWc7OUyeifz/fwtVNdfPaRXP7m+Ob0KPK7XEYB1hdJkoiPjyc0NJTS0lJCQkIoKSmhsbGR8fFxGhoaGBoa8raYmxq1Wk1kZCRFRUUMDAwwMjKyoQV6FAoFKSkpzM/Po9VqMZlMnDlzhunpaQoKCjhy5Mi62/gLCwsZGBhY13s8iLeuEH7XPsbXTnXx7uIUPnlsefEJm42AyWiL09XVRVlZGUFBQe501rGxsYyNjTE1NUVbWxs7d+4kNjY2UCBoHVio7WwwGLh8+TIHDhwgODh43U0pC6tEtVpNZ2cnFouFEydOrHiDeC3ExsZiNpuZmZkhLi5uw+67gMlkcv99Y9TAZ/6jhdKMaJ5/fO+W/Z4HVghbmJ6eHkpKSu5ZsgcHB5OZmXOXx4IAACAASURBVElCQgLHjx8nIyODsbExzp8/j16v5/r16z6bh99fiYqK4vjx4zgcDs6ePcvo6Oi63cvpdHLmzBn3PtKxY8c4evQoer2emZmZdbvvUiQnJ9Pc3Lyh91xg4VknTVY+/sNGYkOD+f6Hy9Gotm6+rsAewhbF4XBw4cIFHnnkkRW9TwiBTqfDYrFgMBgYHx9n3759KBSK+3ptBFg5C+kwMjIylp1e4WHodDquXbtGSUkJSUlJS97z8uXL7oSLG4Usy2i12mUnv/MUJpMJlSaUJ/+tjs4xEz//qyoKUvwve+lKCcQhBLiH6elpoqKi1pyQTZZlXC4XDQ0NhIaGEhsbi8vlIj093acS9PkjC8GH4+PjhIWFkZGRsarrzM7Ocv36daqrqwkODn5ocJrFYuH69etUVVVtmOnk3Llz7N+/f0M318+fP89vpmJ4tXmU732olMcKkzfs3t4ksKkcYBE6nY7u7m6PZOdUKBSoVCoOHDhAcXExKSkpCCGYm5vj4sWLNDY2bpoCQRuNJEnExMSQn5+PyWRienranRZjOczPz9PZ2cn8/DyHDx9Go9EsK1I5JCSE7OxsRkZGcDgca3mEZVNdXb3hhXTaJ+y82jzKp0/kbBll8DACU7gtiN1uX7d4g6CgILZv3w7AkSNHcDgc6PV62tvbycvLw2QykZSUREzM1vLvXguSJFFQUIDL5aK1tRWbzeb2ElsKm82G3W6nra3N7UW2UpKTk3E4HJw+fZrKysoV1Q1YDWq1mp6eHvR6vfv7s57U9kzzo3YjJwuy+dtjm9O9dDX4/QrhmWee4dChQ3zqU59adPz06dPs37+fmpoaOjs7Abh48SL79u1j//79fO973/OGuF6nt7cXo9G4YeYclUpFQkICx44dIzU1lW3btjE0NMTs7Cznzp1jZGQEl8u1IbL4O0qlktLSUtLT02lvb6e+vn7RykuWZSYnJ3njjTeAO7PutezrqFQqHnvsMZRKJX19fWuW/2Hs3r0bYN1Xk8OzZv76J83sDZ/n6+8rRqHYmh5FSyKE8MufsrIy0dTUJD7+8Y8LIYR4+umnRX19vVjg4MGDYm5uTmi1WvG+971PCCHEO97xDjE4OChcLpeorKwUW5HW1lYhy7K3xRBCCCHLsrBaraK9vV2cOXNGGAwGcfv2bWG3270tml8gy7Lo6OgQly5dEh0dHeLUqVPC6XSuy71u3Lghbt26tS7XvhuLxSLeeOONdbu+2eYUf/TNS2LPF18T19q61u0+vgzQKO4zrvr1CuHq1aucOHECgBMnTlBXV7eoPSwsjOTkZHp7ewEoKCjAYDBgs9m2ZL6e1tZWr6djvhtJklCr1RQWFnL8+HHCwsJQqVT09fXR1dXFG2+8gdlsRpblh19sCyJJEjk5OWg0GiIiIoiMjFy3viooKCA/P5+LFy+uq61fo9EQFha2LnsXQgj+71/doGPcyLeeLCHYZfb4Pfwdv95D0Ov17NixA7jjx33z5s1F7RMTE+h0Ojo6OgB497vfzR//8R8D8IUvfGFjhfUydrsdg8HgM2Uel0KpVJKZmel+nZmZ6S4QFBkZ6W7zlSpg3kYIQWNjIzk5OcTGxhIaGsrk5CQmk4nc3FyP17KQJInKykoGBgbIyspatzQnxcXFtLS0UFRU5NHP+af1w/yieYRPHc+hJi+RCxdueezamwW/VgjR0dHuACmj0bioAMhXv/pVnnjiCTIzM6murgbg7/7u73jjjTdISkrikUce4cknn9zwHDLeYnx8nEOHDnlbjBWxMODU1NQAd7xmenp6kGWZ7u5uoqOjKSgo2JLKoaurC6PRuKhOcUxMDDExMUxMTNDY2MiuXbs8Hl0eEhJCfn4+V65cITY2ll27dnns2neTkJDAzZs3KSws9Mj12kb0/MN/3eRwbgJ/+2aOorKyMo9cezPh1yajqqoqzp49C8CZM2fYv3//orbz58/z7LPPur+0SqWS6Ohoty/2RrnUeZvR0VFmZ2f9fuAMCwujqKiIxMREqqurSUtLY2pqinPnzjE4OIhWq8Vms3lbzHXF5XIxNjZGaGgoFRUVS56TlJREZWUlRqORU6dOYbFYPL5Ru9D/XV1d62KmSk1NdWdmXSu6eTt/9eNmEiLUfOv9xSjf3ERuampa87U3G36rEGRZJjY2FoVCwaFDh1AoFGRkZPDcc88B8Nxzz1FTU8PnP/95t3noc5/7HCdOnKCqqoqamhp3bdfNjBAClUpFUVGRt0XxKJIkER0dTWJiIseOHSMzMxMhBA0NDej1ei5fvrwin31/QJZlTp8+jVqtXlYFttTUVE6ePInD4eDUqVMe74+IiAhiY2Pv2bvzFOHh4Vy9enVN15BlwWf+o4Upk41/+WApMWF/SNi3niVF/RW/jVQuKysTP//5z3G5XAQHB9Pb20t+fj7Dw8M4nU7KysrQ6XTExMRsaMIuX6O1tZW4uLgNTwvgbex2O2azmZGRESYnJ6msrMRsNpOQkOCXK6Xu7m6CgoLIzs5edbUzi8VCS0sLubm5K66k9zAaGhpIT09n27ZtHr2u0WhEoVAQHh6+qvd/72Ivz/++ky+/q4APV2UtahseHvZqaVNvsSkrpkmSRHZ2tvv1Qlh/cnKy22yg0+mYn5/H5XIxOjpKcXExN27cICoqipycHGw2G5GRkZu6kHxYWNiWUwZwJ0FfcHCwexbodDrp7+9nbGyM8PBwTCYT+fn5Pl//weVyMT8/j8PhIDc3d9XXUSgUhIWFsX//fvr6+jCbzURHR3tslVxeXk5HRwcREREe9eCLjIzk1KlT1NTUrDgdd9Ogjq+d6uLte5L50P7Me9p7e3u3pEJ4ED6zQpAk6SXgj4FJIcRDd5JWm8tIlmXMZjNCCHp6eoiJiXGnBSgrK6OtrY3k5GRSUlKQJMnnB4wHUVtbS2VlZSCn0FsQQjA7O0tISAj19fWEhIRQUFBAUFCQT33eFouF8+fPU1VV5fHIbrvdTmNjIwUFBahUKo85V3R3d7sdGDy1EjMajTgcjhWlyDZYHLztW5eRJPjdpw4RqbnXu06r1ZKSkuIRGf0Jv0huJ0nSYWAO+OF6KoSHsWBqcDgc9PT0kJmZyejoKHNzc5SXl9PV1UVqaioxMTGoVCqvlgB8EAvVuAKeFA9HCIHBYODmzZtkZ2ej1WqJj493u716A7vdzszMDLGxsetq8rTZbNTV1ZGWlsb27ds98rxmsxmtVktycrLHVgttbW0kJiYuyyQlhOBvf9bC79rH+M+nq+5bBrOxsZHy8iXHxU2NX5iMhBCXJEnK8rYcC6YGwG1nXZhFCCHIzc3F6XQyOTlJf38/e/bs4ebNmygUCnbv3u2edYSHhxMUFOSVAUUIQV9fX0AZLJOFDeoF9+SEhAS0Wi2zs7O0tLSwfft24uPjN6xAkCzLnD17lkOHDq37/pdarebIkSMAXLlyBY1Gs+bvTWhoKOnp6Vy5coWjR496xCRbWFhIa2vrshTCr1pG+U2rlv/2aO4DayJ7woNps+EzKwSANxXCb725QlgLTqeT2dlZgoKCmJycZGxsjLKyMpqamtyBVXq9npSUFEJCQtZtcOnu7kahUHgsj/5WZ0HBDg4OUlZWRk9PDzt37lwXLzVZlhkZGSEpKckrzhAWiwWtVsvc3Bx79uxZ82De09OD2Wxm7969a5bNbrfT1dXFnj177nvOiM7MH33zMvnJEfzsE1VuF9OlMJlMRERErFkuf8MvTEbwcIUgSdIngE8AZGRklA0ODm6ccB7AarUyOTlJREQEfX19GI1Gt8JISkoiPj4eu91OYmLimurZzs7OEhsb60HJA9yNTqfDbDZjMpnQarVUVlaiVCo9UiDo4sWL7Nq1i8TERA9Iunq0Wi3BwcFMT0+Tl5e3pslLb28vcXFxRERErNnEeunSJfbt27ekspRlwQdfuEbbiJ7XPn2Y9NgH74tcuHCBo0ePrkkef2TTKIS78cUVwloQQmAymZiYmCApKYm2tjYAdu3aRVtbG9nZ2YSGhqJQKNzxF0ths9loaGhw10cOsL4IIdwFgtRqNQkJCdjtdjIyMlacJqSnp4esrCyfcgLo6+tDlmViYmLWVPd4dnaWuro6jh8/vqaVjxCCwcFBsrKy7ml7pXaAL/7XTZ5/zx6eqHx4MaH29vYHrjY2KwGF4OcsDDqzs7NMTEyQnZ1NQ0MDERER7uR9+fn5SJKE1WpFrVZ7fYa5VXE6nYyMjBAVFcWNGzdQq9WUlJSgVCofaH5pbW0lPDzcnZvL1+js7GRqaorq6upVm5EWNsplWSY1NXXVsty+fRtZlsnLy3MfG541c/KblyjPiuWVj1Ysa0WzkJNpq+EXCkGSpJ8CR4F4YAL4ohDixfudv5UUwsNwOp3IsszY2Bitra0cPXqUpqYmEhISCAkJYXp6ml27duF0OomIiPDpBHebDYfDgdFopK2tjZ07d2I2m4mPjyc2NtY9aHV3d5Odne0Xn8vAwAC3b9+murp6Va6qQgiuXbvG7t27iYyMXLUcMzMzREREEBwcjBCCD79YT8uwntefOUxK9PJMdwGT0RJtvqIQVkpAIdyLEIJz585x/PjxRccsFgtBQUH09vZiMBjIzc2ltbWVtLQ0XC4XNpuNvLw8HA7HhnnSbFWMRiP9/f1kZGTQ3NxMZGQkkiT5lfuj0+nEarVSX19PRUXFqjZmFzy4jhw5sqp9BZPJRFNTE0ePHuXV5hE+8x+tS0YjP4gF8+xWI6AQtgh2ux2Hw7Ei32+Xy4XBYCAsLIz29nbgjpttV1cXO3fuxGQyoVQq2b59O0KINW12B1iMVqtFqVQyMzPD2NgYFRUVTExMkJmZ6Rf9bLPZmJ2dZWpqipycnBVvqut0Oux2O6GhoatSKkNDQ4THJnHif18iMy6UXzx9YEXVz65du7YoW+xWwS/iEAKsncbGRoqLi1f0HqVS6fZIunuWuhB7YbFY0Ol0OBwOmpubiYqKIiwsjMHBQQoLC5mamiIsLIz09HQkSQqsLpaJEILW1lZOnjxJUlISu3fvRpZl9Ho9fX19KJVKxsfHKSkpcTsT+BpqtZrk5GQiIyNpb28nJyeHsLCwZSuzmJgYHA4H58+fp7i4eMX7XhkZGXzhX36K0RLJ//sn+1ZcCtNisazo/K3AqlYIkiQphRBeLYQbWCHcS1tbm0f8vVeCXq/HYDAQFRVFS0sLKSkpuFwuxsfHKSsrQ6vVEhcXR3x8fEBZ3MXdNvD7YbPZkCSJ2tpaQkND2bFjB7Is+2xfGgwGGhoaqKioIDw8fNmmICEEZrOZ27dvr2hCc0tr5EPfeZ137kniH55cea2PQBzCEm2rVAj9wM+BHwghvFJ2KKAQFmOz2ZiYmHAn+fMFhBCMj49jtVrRaDR0dnayY8cOZmZmMBqNbhNJfHz8lvrHtNlsXL582V3+dbmYzWZ6enpITEykr6+P8PBw9uzZ43PKwWazceHCBXJycti+ffuy39ff3+9OY/+wZxJC8OS/1dE1buIH70knKy15xemsA5vKS7StUiFEAE8AH+VOTYWXgJ8JIYxrEXQlBBTCYjo6OoiMjFyTO99GIssysiwzPDyMEAJJkhgYGKCgoMBdA7ukpASdTrfu+Xw2GoPBgEKhWJMSXMi/5HQ63XEqGo2GmJgYn0nQt2BmjI2NJScnZ1nvcTqdvP766xw8ePCBXkhnOyb481ca+fK7CniiPJXa2lp3Co7lcuvWLXbv3r2i92wG1nVT+c2kdD8FormzaviyEKJnTRddBgGFsBi9Xk9UVJTPzRZXi91uR5ZlBgYG0Gg0WK1WxsbGKC0tpaWlhdjYWHbs2IHNZiMqKsonbexLMTMzQ39//7p4FY2NjdHX10dBQQFtbW3k5OSQnJzs8fusBCEEo6OjyLKMJEnLSjftcDiYnp5GoVAs6QXkkgVv+9Zl7C6Z1585jEqpwOVyMTIysqgm98NYSEGy1fD4prIkSUrg7dxZIWQBXwf+f+AQ8Dtg9YnbA6wYIQTNzc0cO3bM26J4jAXben5+vvvYwt+HDx/GbDbjdDoZHBwkLi6OmZkZdDqdO4V5amoqSUlJSJLkkZQSnmJsbGzFG//LJTk52a0AqqqqmJubo6Ojw+3BND8/7+6TjUKSJNLS0hBCcPPmTUJCQpBl+YEbyCqVim3bttHU1MTMzMw9s/jftmnpmjDxnQ+UoFLemQgolUq6u7tJSkpa9gppZGRkSyqEB7Fak1EfcB54UQhR+5a2fxJC/K2H5LsvgRXCHzCZTIyOji4aPLcydrsdq9WK1Wqlr6+P7Oxs+vv7sVqtlJSUcPv2bdLS0oiOjt7QFOY9PT0kJCR4pXSry+Wis7MTh8NBVFQUOp2O/Px8j9VBWIkcLS0thIaGkpOT89A0HbIsU19fT3l5OUFBQciy4LFvXUJC4vefOrTIs8hmszE/P7/sPF7T09PEx8ev6Xn8EY+uEN5cHbwshPjHpdo3QhkEWIxOp1sUxr/VWUhhHhkZ6Z6JLpgehBDk5eXhcrmYmJhgYGCAoqIiWlpa0Gg05OTkMDY2RlpaGmFhYR5LYS6EYGBgwGszUqVSSUFBgft1dHQ0QgguXbqESqVi7969KBSKdV9NKZVKd3rt5uZm5ubmHlhMR6FQsGvXLjo6Oti9ezdnOqfonpjjW08U3+Nmqlar6ejoYH5+flmmqe7u7i2pEB7EalcI54UQNesgz7IJrBD+wNmzZxdFJwdYPU6nE51Oh0qlQqvVMjEx4c5IGxMTQ3JyMiaTiZSUFDQazbL3LoaHh0lLS/PJPR4hBEajkZs3b5KRkcHExAQxMTGrrt+8EpxOJ2NjYwwODlJRUfFA54FLly7xr00GhhzhnPvsEYKU9/b9wp5FSkrKQz+by5cvc+jQyt1V/Z31CEyrlSTpO8C/A/MLB4UQzau8XoA1sBUzNq4XQUFB7sJI0dHRbvt1Tc2d+Y/VanVHhN+8eZP5+XlKS0tpamoiOfmO66PT6SQpKcm9uhBC0N3d7bP1eyVJIioqigMHDgCwbds2RkdH0ev1NDc3k5mZSWJiIuHh4R7fvA8KCiI9PZ3o6GgsFgutra2UlpYuaUqKyNrDzd+f4elDSfetcyBJEhEREVy7do2qqqoH3jvwf3Mvq1UIB978fbfZSACbZ1fTT+ju7l6x/3WA1aPRaNwDe0VFhft4TU2Ne6Y9OTmJzWbj6tWrqFQqsrKysFqtDA0NERwcTFBQ0ANTmHuboKAgt7fO8ePH3eauxsZGSktL6enpYceOHR6t87zggrtjxw56e3sJCwu7Z5b/k2tD2FURHM1L4MqVK/dN8b4QTS/L8gP7uKWlZUvGITyIQC4jP6e2tpb9+/f77OAS4E7OnOLiYoKCgpiZmVmUwjw6Opq4uDgGBgbYtWsXsiwTFhZGWFiYT5qX4E4chclkwmw2MzIy4t7w9eQG9djYGJ2dnVRXV6NSqTDbXVQ8d4Z3FqXw/ON7EULQ0tJCdnb2fSdEC8n37tePXV1dW3LvbV1yGUmS9HagAHD7eN1voznA+iCEYPv27QFl4OM4nU63bTwxMdG90b1ghgJITU1FlmW0Wi3Dw8Pk5ua6K+mpVCpmZmYoKChwx114M1V2VFSU21MqJycHWZZpaGhAqVSSkpKCxWIhMzNzTTIuuNBOTk7S3NyMITwTs93F42VpwB3T0N69e2lpaaGoqGhJE1NiYiL9/f0ripbe6qx2U/l7QChQA7wA/ClQL4T4c8+Kd38CKwSYmppibGxsw/MXBVg+NpsNs9m8JvPKQgpzlUrF7du3mZ+fJysrixs3bpCZmene19i1axc2m42IiAivrS5cLhejo6OEh4fT0dGBQqGgvLz8oQWCHoQQgr985Rr24Xae+9jbSU1NWdR+69YtTCYTlZWV9zz36OgosbGxS3pPBVJXLNG2SoXQJoTYe9fvcOBVIcSjaxV2uQQUAm5vmPDwcG+LEuA+3Lp1y+2dtF68NYW5QqEgISGBnp4e8vLymJmZQaVSsXPnTmRZ3tDU2g6Hg7m5Obd5x263ExMTs6IEfVaHi+J/fJ33laXxqUMpjIyMkJqaushldGZmBrPZTFJS0qLns1gs1NbWLumFp9frt+T+23qYjBbyxpolSUoBZoDsVV4rwCqZm5sjJCQkoBB8mIiICLZt27au97hfCvOFze/Y2FhmZ2ex2+1cv36d6Oho1Go1w8PD7N27F61WS1RUFKmpqUiS5FETpEqlIiYmxm0eM5lM9Pf3o1KpaGpqYvv27aSnpz8wQK1pUIfVIXM0P5G4uDiioqLctTtUKhVRUVHExcWhVqs5d+4cjz76qPsZQkJCOHDgwJKDf3t7+5Z0O30Qq1UIv5UkKRr4GtDMHQ+jFzwmVYBlYbFYNizKNsDKWcj26m13U41G465vUV1d7T6+ECSnVCoxmUwYDAba2tpIT0/HYrEwNTVFeXk5IyMjxMfHeyTtdkREhNvEeezYMex2O729vYyOjlJeXs7Y2BhZWVmL4hGu9c+ikKAyOw644wVVUlKCzWajsbGR3NxcIiIiCA8P5+TJk/T39yPLsvv5NBoNFy5c4JFHHlmkeAL/O/eyqqmAEOLLQgi9EOIXQCaQL4T4n54V7eFotVpKS0vRaDQ4nc5FbTdu3ODgwYNUV1fT1tZ232P+TEZGhnvZ/I1vfOMeN7yt0Ae+zNTUFLdv3+bAgQMcOnSIZ555ZlG7Vqvl2LFjHDhwgDNnztz32HoTHR1Neno6sbGxHD16lB07dlBYWEhNTQ1hYWHExMRgNpvRarWcP3+e0dFRmpqauHDhAmazmf7+fkwm04rvK0kSarWavLw8jh07Rnh4OGFhYfT19dHX18elS5cwmUy0DOnITYogXL14/qpWq6muriY2Npa6ujra29uRJInt27djsViYn593Z9Ktqqq6pyBObm4g5do9CCFW9cOdWIQPAE8t/Kz2Wqv5KSsrExaLRczOzoojR44Ih8Mh7ubd7363GBoaEiMjI+Kd73znfY/5M11dXWJ0dFRYrVbx1FNPierq6kXtW6EPfJnZ2Vmh1WqFxWIRQgjxgQ98QLS1tbnb/+Zv/kZcuXJFmEwmceTIkfse81VcLpew2+2iv79fDAwMiJ6eHnHu3DkxNTUl3njjDXH16lUxPz8vtFqtsFqtK76+zWYTNptNPPGPL4nPf/cXYmZmRoyPjwtZlu8rT3Nzs6ivrxeyLIuJiQnx2muvCZvNJoQQ4tq1a2Jqasp9/vnz51f13P4O0CjuM66uNtvpj4AdQAuwUDlNAD9cq4JaCRqN5r6ZDWdnZ91LdYPBcN9j/kxISAjBwcG88MILfOQjH+ELX/jCovat0Ae+TEtLyyLX0qCgoEVmira2Nr71rW+5o2tNJtOSx3y1eJBCoUChUJCVleU+tmPHDgDi4+NxOBw4nU533YaFoL2ysjKam5tJSEggMzMTh8NBZGTkPSac4OBgXLLgmjmRiu07CQkJQavV4nK5GBoaQq1WU1xc7DZjKRQKSkpKmJ2dZWJigsnJSaqrq5mdnUWlUlFWVkZnZ6d7VZ2WlrYxHeVHrHYPoRzY/aa28RiSJD0GfAtQAi8IIZ5f7bVkWb7n76WO+TMLwUsXL17kr//6r+9RCFuhD3yZu4sVtbW1MT09vSiVs8vlcg9mCxlIlzrmqwrhYahUKlQq1aIsvAsJ9o4cOYLFYsHhcDA4OEhiYiJjY2MYjUZ3CvO0tDSkkEiChJO48GBCQkIoLCwE7sQpGAwGdDod169fJysri9DQUKKjo90b7E6nk/n5eXc24JKSErKysmhvb2fPnj3Y7faN7xQfZ7XuBDcAj7pOvJlF9Z+BPwJ2A09KkrTqckZ3e0os/L3UMX9menqaH/zgB3zgAx9Ysn0r9IGv8b2LvdT2TgN/ULivNd3m8Q//BS+++OKic++eERuNRqKjo5c85k3ufp4Fanun+d7F3jVdV5IkQkNDiYqKori4mJSUFMrKyqipqSEyMpLKykri4uIYndSxUzlDhLjjPnr58mV0Oh1NTU3YbDY0Go1730OhUHD9+nX0ej0XL15EoVCQmJiIQqFw74N879VztPaO4HK5mJyc9NjzbBZWOyLEA7ckSTolSdJ/LfysUZZKoEcI0SeEsAM/A9612ovFxsYyMjLidqm73zF/JikpiZGREb773e/y2GOPcfPmTb797W+727dCH/gae9Oi+ORPrlPbO834+DiXusZ5/5Mf5L9/4cv3uJ/u3buXq1evMj8/j9FoJDIycslj3uTu54E7g+cnf3KdvWnr+90JDg4mIiICpzqSW64k0lO3uTfno6OjycvLIyQkhImJCa5cuYLRaOTWrVuoVCrsdrs7yeDNmzcZGBggOzubwcFBwuU5Xmy18uuL9ZSVlW3Y8/gLqw1MW7J4qRDi4qoFkaQ/BR4TQvzFm68/DOwTQnxyqfNjM3eJ45/7Vy59+zPohrqISc9l99s/xnRPK7vf9mfoR3po/un/hxCC0ic/S0x67pLH/JlQ+yxORTD2oDtxCOe+9jRVn3iO/iu/2TJ94IsYrQ5uT8xRkqSi4Y3zGM7+K0V775g6vvKVr/CTn/yEb3/724yMjPDUU09hsVj40pe+xKOPPrrkMW9T2zvNJ37YRFKkmqFZMyUZ0cSFbUyN61GdhbZRA9U744jULDMVhuxC6TQjFEEEW3UE2U2YIzKImLmFkJTMy0qi5gaxKEI5LxXxzx8s5cCOrVMXYV1rKnsKSZLeC5x8i0KoFEL8zV3nfAL4BEBsckbZB575EiEOA+MReWwzdeFUBGPUbCPWPIRJnYjKZUHjNLnbHUoNc+p4YswjGDTJhDgMBLvM7na7MhSLKooo6xi60DTCbdOoXFZ3uzUoAocyhAjbJLOhGURaxwmS7e52iyoKl0JFuG2a6bBsYizDKITMVNgOEuduYw6+k74g1K5jMjyHhPleZEmBLiSd+Pl+5tTxKGXHsp8pWcbx6wAAIABJREFU1XADh1KDISR50zzTZvmc7GYjMc5ZEouOkmjsIiIigp07d3L9+nUKCwvRarXMzs5y8uRJTp06RWxsLCkpKdy4cYOSkhJ6enowmUzu9sTERGJjY+ns7KSyspIbN25gNpvd7Qv1Gfr6+qiurqahoQGXy8WRI0c4d+4cGRkZAAwNDXHs2DEuXryIUqmkoqKCK1eusH37dqxWK1qt1n3N0NBQCgsLqa+vp9UYytjUNAlBVkZCc8m29mBTqNEFxbLNPsaUKpFwl4kQ2UK/ZifZ1h4sihDmlBEkOCYZD04mxjmLWra52+eVYVgVIcQ5ptGqU0lwTKKSHe72uaBIjA6IduqYDM0izTmGAplhdSaZ1n4MQXdm9VFOA4OabNJtg8goGA9OIc02iD4ohhDZQoTLSK96JznWLlxSEBZFCLGuWawuBZH7Hufv375qy7Rf4jGFIEnSG0KIg5IkmbjjVeRuAoQQYtXrW0mSqoB/EEKcfPP157lz0a8sdX4gdcWd3PwKhWJDUxEEeDgLZoj3pZv5j+FQvvOBEr+egS48z4f2ZfDja0Mb+jznuyb56A8a+MVfHaAs8w/5oIQQyLKMTqdjfHycrKwsGhoaCA8PJy0tje7ubnbs2OHO91VVVcXNmzfvpPFI2sHLp+op37ubn90w+f3ns1I8lrpCCHHwzd/r4fbQAORIkpQNjAJPcCfOIcB9GBoaIjw83B2FGsD7LAye3/lACblRcNiA+7U/Djp3P8+BHfHs3xG3Yc8jhCBc4fw/7Z15VFzpeaefr4qtKPYdhNgRSCCxS619obvVtmNnvCXel47d6SROHHsce5w+Hidxtoknicce2/HSbcd2koljj+2xk3S7pda+IUACIQGiQIWoYi+olaW2b/5AlFELsRQFVQX3OUfnCKh773sp6r7f9y6/lxyVBeOoiVljJx6Ph4qKCtra2sjPz0er1ZKZmYlGo2H//v3o9Xq0Wq2vwmjXrl3k5eUxODhIZmYmPcZxfv5KK598z5twGzs59J6asH5/Ao2/fQiLTbG2SSld/hoipXQLIT4GvMJc2elLUsrb/p5vK6DVapccOaiw8bQbLL6Hy7ya5v9+Tw3tBktYPnAW3g/AgeK0gN7P7OwsY2NjaLVa9Ho9ZrPZN7I0PT0drSYRN2osTnjzgf2+ktzjx4/j9XpxOBzcuHGDbdu24XK5fBIWjY2NvpkNfX19CCHYtm0bU8klvLNumEOlmegjpykoCOz9hDv+JpX1wHZgkrlwURIwBIwCH5VStgTQxkVRQkZzZafzw+QVQo/e3l5fo9ZWxePxMDk5iUqlYnx8HKPR6Hvgx8fHU1BQwOTkJNnZ2cTGxj5SCu3yeCl94T/5xJM7+IPGEkZGRoiMjESn0zE7O8sTTzyBEOKh2QsulwuTyURPTw+1tbXY7XampqYoKChAr9dTUFCAEMLXj7DVWA+105eBn0gpX3lwgaeBZ4AfAl8D9vl5XoVVMDExQVxcnOIQQhSXy4XT6dzUOR4pJQ6HA5fLhcPhoK+vj127dtHd3Y2UksrKSoaGhti2bRuFhYWUlpYihHiog3uhjPXriVAJqjUTjPd1MLRLy+TkJEVFRezbt/gjpr29HZPJxNGjR4mNjeXs2bOcOHGCzMxM2traSE5O9u0yTCZTYH8ZmwC/O5WllM/PfyGl/KUQ4i+llJ8UQigxjA0iKysrqJOzFJZmPgwS7iJqLpeLqakp3G43Op2O3NxchoeHsdls1NbW0t3dTU5ODmlpaWRlZREREfHQQ341zXVTU1OYzWZmZmbQ6/VUV1cTm55LuyuKnJycRfNlXq+XmzdvEhERQUVFBWq1GoPBQExMDE8//TSRkZFMT0+Tl5f30KCiurq6tf1iNiH+OoQJIcRnmGseA/hNYPJBt7Gih7BBmEwmYmNjF50GpRB8tm3bht1uD7YZyyKlZGpqCiklvb29JCYmYrfbGRsb88lIZGZmkpuby+7du9FoNA/JcjQ0NKzp2oODg+h0Oqqqqrhz5w4lJSUUFRX5Rl/uLsjiO5f0zLo9REeoHzr2zp07pKenk5ub6xtN2tfXx8TEBHV1db7dwKVLlx5RA25padmSE9OWwl+H8B7g88BPmcshXHzwPTXwG4ExTWE5XC4XHo9n+RcqBAWVSsX169c5ceJE0EZazjOv23Pv3j0iIiKQUvoG5HR2dqLVaikvL2f79u0kJiY+JKHx+gfpWvB6vQwPDxMXF8f169fZtm0bWVlZHDx4kIiICA4cOPDIMfUFKXzjfB+t/Wb2F6f6bI+IiCAuLs7nCNxuN5cuXeLw4cMPzVH2eDyUl5c/IoSpDJZ6FL8cgpRyHPj9x/xY5785CqshLy9P0SMKcfLy8nyaO+vJfF3+wMAAbreb6Oho3whNo9HI7Ows9fX1xMfHk5KSQkxMjG+AzMIH/nrsNh0OB52dnaSlpTE5OUlMTAxZWVmLjrVcjCeKUohQCc7dHaM2N46Ojg7i4+N9+QiYc3j379+npqbmoc+E2+3m3Llzi15LKdd+FH/LTtOBTwMVgO8vXUp5IkB2KayAiYkJLBYLO3fuDLYpCo+huLiY3t5eSktL13wuKSWjo6PY7XbfGMn8/HwcDgcmk4mGhga8Xi/p6ekkJib6ZM4XPvg24iHocDiAOflvr9dLbW0tpaWlJCYmPiSVvVLiYyLZV5CE7sYl+otVj8T+9Xo9vb29i+7EDAbDY3MFd+/eVZzC6/A3ZPRPwL8CvwY8D3wQGAuUUQorIzs7269JVQobh0ql4v79+yt2CBaLhYmJCdLT02lubiYjI4PIyEgMBgPV1dWYzWbfDOGFlTrzLAyVbBTzuQer1UpaWhqDg4NUVFQ8NK7TX6xW61zYrSiNP+/L5FMJvxIIlFLS09NDZmbmos5gbGzukfS4pPZWLwleDH8dQqqU8kUhxMcfCNqdE0L4LWyn4B9CCNxut29MoEJoUl9fj9frRaVSMTMzw+TkJElJSbS2thIbG0tqaiq9vb2Ul5djsViIiYlBo9Fw5MgRX/hj3qEsrJIJFl6vF7vdzvDwMAMDA9TV1REVFUVVVRVqtdqnm7QWHA4HbW1tVFZWcvjwYaqdkr96zcj/bTXyx2+cK7NuaWkhIyPjsaq9t2/f5siRI4+9hslkCvq861DDX4cw35E8JIR4EzAIKOOHgoDH42FsbMyXWFMILl6vF4vFQmxsLLdv38bpdKLRaNDpdNTW1uJ0OpFSkpqaSn19va/TfP4hmp2dHUzzH4vJZPLlJG7cuEFRURGlpaW+ktpAzW2YnZ1ldHQUm802V3IaGwtAahQ07szgxy0GPrI3E93drkUT0PP09fU95FAXw2w2B8TmzYS/DuHPhRCJwH8FvgIkAJ9Y+hCF9WDnzp3K5KcNZnp6GpVKRX9/P2NjY1RWVtLa2urrC7Hb7ezYsYPS0lLi4uJ8Cd/CwsJgm75i7HY7breblpYW8vPziYmJYdeuXcTHxy8aqlorbrcbp9PJ1atXqa+vX3Tl/p59+Zy5beQ/m+7w3qefWNL2/v7+ZcNnSh/Co4SM/PVqUaQrfsXp06dXXLGhsDwejwe3283Y2BjDw8OUlZXR3NxMcnIyycnJDA0NUVZWBsw1n62kE9lgMJCUlBSypY6zs7Po9Xri4+MxGAzAXKhLCLHu4UiDwUBnZydPPPHEkuNCm5qa+LvX7mHX5vDzjx16rF3j4+MkJCQs+77Ma01tNQIuXfFAkfT3gYKF55BSvsWf8ymsjYyMDCWPsAqklHg8HiwWC0NDQ+Tn59PS0kJMTAyFhYV0dXVRWlpKTEwMZWVlxMXFPbQqzs/PX/U109LSuHTpUsg4bo/Hg9frpampCZVKxY4dO9BqtWRlZW1Y5c3du3cxGo0cO3ZsyYH3TqcTvV5PRUUFbxVZfObHtzjfM87RHemPvLanpwePx7OkHMY8wR5PGor4K27XBrwI3GJBZ/JaJqatFmWH8CumpqaYnJx8qHt0qzOvsTM8PExqaird3d3MzMxQU1NDa2urrwEL5saKLmzEWi+mp6eZnZ0NyoNovmTVYrEQGRlJf38/NTU1aLVaIiL8jRz7h16vZ3p6muzs7GV/F1JKzp07R319PXFxcTjdXo5+8QzbU2L54W/vf+i1Xq/Xp5u0EgYGBrZkUnk9xO1mpJRfXoNNCgEkJiaG7u7uLecQ5qWTNRoNBoPBJ1fQ0tJCamoqOTk5REdHExsby759+x6STg4GMTExnD17lmeeeWZDdnMul4v79++j1+upr69nbGyMwsJCtFptUPIZQ0NDPl2h8vLyZX8H84qmC8M6UREqnjtSxJ/+/A6Xe8cfkqy+ePHiqvICvb29W9IhLIW/O4T3AKXAL4HZ+e9LKVsDZ9rSKDuEh5kvZdxMYaN56WSYqwgZGBigtraWGzduoNFoKC0txWQyPVY6ORQZGxsjISFhXeZYTE9Po9frycnJobm5mby8PPLz84mMjAzq34XD4WB8fJzJyUn27Nmz7PskpcRut2M0GikvL3/k5zMuD8f/51kyEmL46e8eQAiBx+Ohq6uLioqKFds1ODi4JRvT1mOHsBt4P3CCX4WM5IOvFYKAwWDA7XaTnv5oXDVUmf/gO51OZmdn0el0lJeX09vbi9PppKamhqGhIXJycsjPz6e4uBghxEMrxpSUxWY1hS7p6emcO3eOJ554Ys1Owev1YrPZuHnzJnl5eczMzJCUlERCQkJI5CqklL4cRUNDw4pyL263m1OnTlFVVbWoMwCIiVTziSd38Okft/NyxzAnKzJpaWlh7969q7JvqzqEpfB3h9AF7JFSBq3eUdkhPIzD4aC/v59du0JrYPi8Tr6U0ieTbDKZfJOxuru7yc7OJj09nYiIiA2J5Qeb+aaueS2hlTIvDKfRaOjs7MTr9bJ3715UKtWG5wGWYr58NDMzkx07dqx4d2IymZiamiI9PX1Z7Se3x8sbv3yBaZeHr74xi4y0FLKyspY85vUoVUaP4u9fURtzU9JG/bZKIaBotdqglDTOJ2+FEPT09BAfH4/T6WR4eNgnnZyRkUFeXh579uxBo9E81Mm6FunkcCUuLo7IyEjGx8eXrYbxer20trbi9XrJycnBZrORkpKyZFNWsHA6nTQ3N7Nz507q6urQarUrPnZ2dpaOjg4OHz68otBfhFrF599cwUe/fYEz9+L5eOXqF0JKH8Kj+OsQMoEuIcR1Hs4hKGWnQUSv15OVlRXwCV3zjW99fX2+1Wh/fz+VlZXodDqio6OpqKggPz+fhIQE1Gq1T3AvkNLJm4nc3FzOnTvHiRMPR1kdDgdWqxW73c79+/epq6tjx44dIT0Vz+PxcPfuXRISEti1a9eqqqiklFy5coXCwkKOHj26quseLEnjTVk2vtU0yjsPT5OTtDqlVmUewqP4GzJa9J1Tyk6Di8ViITo6etVSy16v16cx73Q6iYuLo7u7m5KSEsbGxpienqa2thaz2UxycvK6SzlvFbxeL3q9nsjISHp7e6murqazs5OSkpKwyAXN54Du3LlDYWHhquVTZmZmsNlsuN1uvyQ7JiYmmJwVvOlrVzlSms43P7BoFOSxKDOVH8XfeQiKkF0IkpCQsOhkKHi4Dj0tLY22tjZyc3NxuVyMjo76BNgyMzNJTEz0JdsWluUpk9nWznytvFarpaWlhZmZGQoKCjh8+DBqtZr9+/cvf5IgI6Vkenqa8+fPU1VV9dj5xkthsVi4dOkSx44d8+kVrYbZ2Vmam5t5+umn+cMnd/DX/9nFK7eHOVmx8jzCUl3RW5VV7RCEEDbmqoke+REgpZQbtq9VdgiPYrFYOH/+PCdOnOD69eukpaWh0Wi4f/8+u3fvxmw2ExcXR2Zm5qYqTw115lfR2dnZjI6OEhcX91Cy1Wq1YrVal+zWDRWGh4e5efMmBw8eJC4uzq+/o66uLt/Cw99SYbPZ7JuY5vJ4efNXLjI55eSXnzhKomZlc8aVpPIiPwsFLSMhxDuBPwF2AnullMs+6beiQ5iXTk5OTqalpYXo6Giys7O5e/cupaWlTE9P+7bfCQkJYVGXvxmx2+2oVCpaWlpQqVRUVVUhpXzsilRKyZkzZ6ivrw/ZXMHo6Cg6nY7q6mo0Go1fjkBKycjICCaTaVX9Aq9ncHCQ0dFRqqurfd9rN5h569cu8/babfzNO6pWdJ6RkREyMzP9tiNcWY8qo0DTAbwN+EawDQkmHo8Hq9WKRqOhq6sLh8NBeXk57e3tvtCN2+0mNTWVhoYGX/J4YYey3W6no6ODJ554vBqkQmDxer3odDqmpqZISkpiZGSEiooKDh8+vKLjhRAcP34co9GIx+MJiZkH80xOTmK1WnE6nezbt8/vsuCZmRnOnDnD8ePHV10euphNVVUPP/T35Cbx3JEivn62lzfszuZ42fL5DL1evyUdwlKEhEOQUnYCmz6MMR97FUJgMBgYGRlhz549vkEfGo0Gq9VKSUkJJSUlaLVa38NipcTFxW05CYuNxuPx4HA4GBwcxGg00tDQgEajoaSkBJVK5deYSCEE2dnZnDp1iqeeeirou7t5+euuri7q6+uJjFxZGGYxTCYTTqeTY8eOrbkgobW1lYqKikWfFR9vLOV05wif+VE7v/zEEZJil662m56eXpMtm5GQCBnNI4Q4C3wqnENGHo8Hl8uFyWRicHCQ8vJympubSUhIIDMzE4PBQGlpKWq1mtjY2ICXiMKcBkxsbKzShRlAxsfH0el07Ny5kxs3blBcXExubm7AFzFSSrq6uigsLAxKNZeUkr6+PoxGI/v27VtzN/W9e/cwGAwcPHhwzU7O6XTS0tKyZOK9w2jhv3z1Eicrs/jf765Z8v2x2WxbMrEcEjkEIcQpYLG94gtSyp89eM1ZlnAIQojngOcA8vLy6vr7+9fJ2scjpcTtdmOz2TAajeTl5dHe3o5KpaKsrIw7d+5QXFyMRqMhMjLS78TbWvB6vVy7di0sKlZClXlJjRs3blBYWEhUVBTJycmrarbyl+npaZqamlZdl79WmpubcTqdAWl683q9XL9+nbq6uoB0Uc/PT56f0LYUXz2j44uvdPN3v1HF22ofn6hXksqL/EzZITyK1+tlamqKoaEhUlJS6Ovrw263+5Q0t23bRmpqKl6vd8Okk1eL2+1Gr9evWh5hqzI7O0tfXx9JSUn09/cTGRlJTU3NhgyIeRytra2+OcXrhdfrpa2tjYSEBHJycgJSWuz1eunu7iYtLS1g/RSdnZ1ER0cvOwUNwOOVvPubV7k9aOE/Pn6Y/NTFnfidO3dCTuplIwiHpPKGIqXE6XQyOjpKTEwMw8PDjI+P+x74SUlJvrGBcXFxD8krBEs6ebVERESg1+vJy8tbl7BUuON2u5FScvXqVaKioiguLiYxMZHMzMyQmWtcUFBAe3s71dXV6xKa6uzsJCMjg6ysrIDd8/DwMLdu3eLJJ58MmM0zMzNkZmauWMhQrRL8/buqecOXzvP7/3KDHz1/gKiIR8NVyufiUUJihyCEeCtzs5nTATNwU0p5cqljltsheDweJiYmfN2U/f39VFdXc+vWLSIiIqioqGBsbIzMzMyghHU2ApfLhdVqJTU1NdimBB0pJcPDw9hsNtRqNQaDgZqaGmJjY0NKGG4xLly4QFFRUcCKBealqCMjI/1KgD8Oo9GISqUiKysroJ+n1157jX379q06XPdyxxDP/6CVjx4u5IU3PboTUEJGi/wsFByCP9TX18szZ84wOzuL2+2mu7ubHTt2MDAwgMPhoKGhwaftk5SUhFqt3pQP/eW4evUqpaWlW9IpuFwuX1Kzrq4Oo9FIQUGBX52xwURKyf3794mKilrTw9br9XLx4kWysrJWFItfDdevXychIcE3azpQeDwexsbG/C5V/dxPO/j+1X6+/YF6ntz1cInpSsQFNyOb0iHU1NTIb33rW2RmZpKZmYlarQ7JWH6wcbvdjI+Pr7n2OxyYmpryDYhpaWmhsLCQ3NzcTRMaMBgM3L179xFBvOVwOBxcunSJsrIyv+ZBL8XU1BS3b9+mrq4u4KWyHo+HV199lWeeecbvc8y4PLz965cxTE7zi98/xPaUXy0GLl++HJKqsevNpnQIoVp2Gorcu3cPl8sV8FVhsJlv5Gtvb6ewsBC73U5KSsqmluaQUnLnzh2Sk5OXLSu2WCw0Nzf7hvEEOjTm8Xhoa2ujoqJiXSbAjYyMoFar17yK7zc5+LWvXKQgVcu/Pb+fmMi5heOFCxdW3Dy4mVAcggJtbW2PdHeGGwuF4To6OlCr1b6VaajnAQKJlJKbN29SXl5OTEzMI85vamoKnU5Heno6KSkp6/Kwbm9vx+12U1tbG/Bzw5yS6fDwcMCqgE7dGeEj32vm3Xu381dv2wPM6SGtRqp7s7CUQ1DEbrYIFRUVtLW1BduMVSGlxOPxcP36dVpaWjAajdhsNjQaDYcOHWL//v1ERUVtKWcAc13NNTU1TE5O8stf/hKXywXMNW5NTk7S0dFBcXEx2dnZAXcGHo+H+/fvk52dvW7OAPDlBAPFk7sy+b3jxfxL0wA/bB4A4ObNmwE7/2Zha32StjARERFYrVZmZ2fXZcUYKOx2OzabDavVisFgoKGhgbKyspAVfQsmOTk5JCcnMzo6isPhYGBggPr6+lXPFl4pUkpOnz5NXV3duhYp6HQ66uvrA+7oP/lUGTcHzHzupx3syk4ImfLiUELZIWwhDh06xOhoaE09lVLS39/PmTNnMJvN3L59m6ioKMrKymhsbCQhIUFxBktgNBrp6OhgfHyc2tradXP2RqORrq4unnrqqXV1BjMzM77GwECjVgm+/K4aUrRRPP+DFuyz7oBfI9xRdghbCCEEk5OTwMODbzYSj8fjGxR/48YNCgoKSE1N5ciRI6jVar+GrWw15mUcJicnqa2t9XWju1wuLl68SHZ2NuXl5QG73uzsLCMjI77O7fXEarVy5MiRdTt/alw0//C+Ot75jSt899UbVFXsJEKtrIvnUZLKWwwpJWNjY6SlpW2YoqbVaqWzs5Pc3FwGBwdJSkqipKRk01YCrSf9/f2oVCpUKhU5OTmL/g6llFy/fp3o6Gj27Nnj9+/Z4/Fw7tw5SkpKyMvLW6vpy9Lf34/FYmHPnj3rfq0ftxj4/I+a+M2D5Xzu17aWfIVSZaTwEIODg74V33pgtVqJjIykqamJ6Ohon1xxXFzculxvKzBfgjk6OsrOnTtX9JCfmJjAbrczMzNDaWnpqhyDzWbDZrOh1WpJTExci+krYr4BbSNLhv/0Wz/iO70a/vadVby9LvSn1QUKRctI4SFycnJwOBwBO5/H46Gnp4fZ2Vni4+N9E7E2Wq1zM+Jyuejp6WFmZobq6upV1eSnpKSQkpJCb28v4+PjzM7OrmhM5/T0NFeuXOH48ePrEstfjGvXrq3Y0QWKxl3ZdEk1n/3JLYrStdTkhc5gomCh7BC2KB6Ph6tXr3Lw4MFVH+t2u5mamsJgMDA0NMTevXuxWq1kZ2cHfbDLZkFKyfnz50lMTHxoVORaztfR0UFkZCSFhYWPTT63traSk5OzoZ3tUkq6u7sDmvdYCePj46g1Cfz6Vy8x7fLw/z52kOzEtau9hjpKH4LCI6jVajQazYqnRo2OjnLlyhXMZjOXLl3Cbrezc+dOGhsbiY+PZ9u2bYozCAAzMzNcuHABo9HIwYMHA+IMYK6gYPfu3ZSXl9PZ2cm5c+ce+rnb7cZkMpGcnLzhzuDSpUsb7gwAOjo6SNZG8e0P1jPt9PDR7zUz7fRsuB2hhLJD2OJ0dXVRVlb2yFZ9Pvbc3t5OUVERarWa1NTUsBOGCxdcLhetra2Ul5ejVqvXPd/i9XoZHByks7OTsrIy2tvbOXr06IZPELt//z5CiKBUvel0Ol+F1unOuU7mN1Zm85V316BSbd6CByWHoPBYEhISaG5uprKyknv37pGamkpvby8ajYaqqqpVC6kprA6Px8Pg4CBTU1Ps2LFjQxK4ACqVitzcXDweD9HR0cTGxtLZ2Ul9ff2G7fQcDgderzegEtyrwel0+v7fuDOTz76hnL/8jy6K07V88unAqraGC4pD2KLMyx309PQQExPDzZs3KSgoICMjg8zMzGWOVlgrUkpf30BFRUVQVsiDg4OMjY1RV1dHZmYmXq8Xg8FAd3c3tbW1JCYmrqssiL85rEAxOjr6kFbSRw8XoRu18+XXdBSlx/FfagIzfyKcUEJGWwSv18vw8DAOh8M3LKa2thaNRoNaraazs9M3OUxhfTGZTDQ1NVFfXx+wEZOrwe12c+7cOQ4dOvTY5LLX6+XChQtotVoqKyuJjo4OaAXQ2NgYiYmJQZUmt9lsj4TInG4v73/xGjfum/nnj+6jvmBlU9rCCaUPYQsipcTtdtPb24vRaKS+vp7BwUEKCwuJiYlZ9Jj5yqHNJpMdKhiNRm7fvs3x48eJiIgISmOe3W7HbDavShLEYDDQ2dlJQ0MDERERa85vuFwuTp8+zcmTJ4PanPi4iWmTDidv+/plLNMufvq7B8lL3Vx5M8UhbBEcDodvQExrayvFxcXk5OSsahV27do1ysrKtqQs8HoxNjbG4OAgubm5pKSkBO0heP/+fe7evcvx48f9GiY1rzwbExNDTk4OERERJCcnr/p+bDYbwIYnsF/PtWvXHiuVcm/cwVu/dolUbRT/93cOkhi7Mf0YG4HiEDYpHo8Hs9lMe3s7JSUlWK1W0tPTSU9PX9NDx2Aw+KQRFPzHYrHgcrkwGAzs3r07aBP9pJTcunWL0tLSRecn+IPVaqW3t5f8/Hza29tJT09n586dyyakR0dH0ev166bIuhpGRkaWzJdd6zPxvhevUZ+fwj8+u5eoiM1RVq04hE2C1+vFaDSSkJBAW1sb0dHRVFdXExEREdCHzXxT1KFDh5SxpH4wMzOD1Wr1yTgHe4RnR0cHCQkJ66ZHJKX0yZZ3dnZSXl7O7Ox0X0ykAAAcVUlEQVQsmZmZaLXah17b09NDcXFxSPSsPC5ktJCf3DDwiX9t4+21ufzPd/qvCxVKKGWnYcr8gJiWlhaioqJISUnxfdDWUxFSCMHRo0fp6Ohg+/btG1YKuRlob29ncnKSQ4cOkZGREVRbzGYzra2t6146LIQgPj6e+Ph4365ydHSUO3fuUFxcTFtbG2VlZQwPD1NSUhISzgBYUbnrW2ty6TdN8aVTPWxP0fCHT27u/FpIOAQhxBeBNwNOoBf4sJTSHFyrgoPNZsPhcDA5OemThdi1a1dQ4q3l5eU0NTVtyUHkq8Hr9dLc3ExUVBR79uwJiQee2WxmYmIiaHpSGRkZPod49OhRpqenuXbtGmazmfr6enp7e8nOziY9PR2VShWUlfd8LmM5Pt5YysDENF861UNucizv2MRCeCERMhJCPA28JqV0CyH+B4CU8jNLHbNZQkZSSvR6PXq9ntraWrq7uyktLSU5OXSEtq5evUpNTU1IT1oLBl6vl/b2drKzs4mKigqZ96ylpQW1Wh0w2YtA0NHRQWVlJTD3N2+xWJidnWV2dpbe3l4qKirQ6XRIKampqcFisZCamrqu4baVhIzmcbq9fOg7TTTdm+Afn93LwZKViwyGGmGVQxBCvBV4h5TyvUu9LlwdwvyAmOjoaNra2igqKiI5OZmEhISQWFkuhsPhQKfTUVVVFWxTQgIpJTqdjoSEBDweT8gk351OJ11dXZSXlwc9b7GQvr4+nE7nivSKPB4PLpcLvV5PTEwMU1NTjIyMUFdXR0dHB1lZWeTm5iKEWHPp7mJ9CEthnXHxzq9fYdA8zb/9zn7Ks8Jzkl+4OYSfA/8qpfzBUq8LJ4dgsVi4c+cOBQUF3L9/n9TUVJ+GSrggpeTs2bMcPXo0ZB3XRuBwOOjp6SExMZHCwsJgm+NDSsnVq1fZvXt3SM2dcDqdmM3mgORTZmZmsNvtPnXU/Px8TCYTZrOZuro6WlpaSEpKIiUlhb6+PsrKyjAYDDgcDurr6+nq6iItLY24uDhsNhs6nY6nnnpqVTYMmqd569cuIRD85PcOhKU6akg4BCHEKWAxGcUXpJQ/e/CaF4B64G1yEcOEEM8BzwHk5eXV9ff3r6PF/mM2m4mOjubq1atotVqfYNnrKy7CjfHxcWw2W0g9CDcKj8fDqVOnKC4uDjlnrtPpsFgs1NXVBduURzh//jxVVVVBLUyQUiKlxOFwIITA6/UyMTHhU5RdLZ1DVt75D1fITdbww+f3kxATXj0KIeEQlkMI8UHgeaBRSjm13OtDaYfgdru5e/cuHo8HjUaD2WymoqICjSb8Vg/L4XA4aG1t5fDhw8E2ZUMwm81cv36dqqqqNfd3BBopJSaTCbvdHjSBuKWYnZ3FbreTmpoabFMWZXBw0O9w38WecT70nSb2Fqbw3Q+HV49CyM9DEEI8A3wGeMtKnEGwcbvdWK1WOjo6OH36NDMzMyQnJ1NZWUlJSQn19fWb0hkAaLVacnNzsVgswTZlXbFarZw/f57IyEiOHz9ORkZGyDmDV199FafTGZLOwOv1cvr0aVJSQlcL6O7du34fe6g0jb95xx4u95r4ox+14fWGxsJ6rYTEDkEIoQOiAdODb12VUj6/1DEbvUMYHh7m3r17lJeX097eTllZ2YbOfw01BgYGMJlMIVXJEgimp6cZGhrC4/GQl5cXkpVVJpMJk8lEUVHRuqqRrgWr1cr09HRIK+cODAysWWX2a2d1/M3L3Tx3pIg/fuPOAFm2voR8Y5qUMqSCsvOdl9PT03R0dFBSUoIQgurqajQajTIrGNi+fTt2ux232x2yD6XV4HQ6cblcNDc3U19fH7L5HrfbTVdXF/v37w/Z5P58l3ZtbW2wTVkSk8m0ZofwO0eLGbbM8M3zfWQlxPDsofDOr4X/JzlATE1N0dfXR2ZmJt3d3SQkJLB7925lQMwS7Ny5k7a2NjQaTdgqpEopfZPDnnjiiZB19lJKrly5QnZ2dlBnCKwEnU7n6zkIZczmtfe+CiH4/JsrGLXO8oV/v0N6fDRvrgqNMmR/CImQkT+sNWQ0Py3p8uXLxMfHs337dqSUIRcrDgf6+vqIj48nNTU1ZFeti9HZ2cng4CAnTpwI6fd8ZmbGl7MJ5RAMzDmDnJycsBi1uto+hKWYcXn4wItN3Bww890PN3AghBvXQj6pvBHMT4PS6XR0dXVx7do13G43hw8fpq6uzjcpLJQfDKFKUVERQgheeeUVPJ7QHlIupaSnp4fbt2+Tl5dHY2NjSL/nU1NTnDlzhvj4+JB3Bh6Ph3v37oWFM4C5ju5AEROp5lsfqKcgLZbnvt/C7cHwLLrYtDuE+RGFPT09DA8P09DQwNDQEAUFBSGZKNwMeL1eBgYGcLvdITl5bWBggOjoaKxWK8XFxSHtCAC6urpISUkhLS0tLHZeRqOR7OzssLAV4ObNmwEvihiyTPP2r13G5ZX8+PkDITlcZ8vsEGw2G7dv38ZkMvHaa68xPDzMjh07aGxsJCEhgbKyMsUZrCMqlYr8/HwcDgc2mw2v1xtsk4C5WLHBYMBisZCenu4rEghVvF4vk5OTeDweMjIywuIBOzg4yPDwcFjYOs969EdkJ2r43m/txen28oGXrjFunw34NdaT8Hn3FsHj8TA2NsaZM2cYHBykv7+fjIwMUlJSaGxsJC8vj8jI8Ooi3Azs2bMHt9vNyy+/jMPhCJodUkquX79Ob28v27Zto7KyMqQdAcyVvb7yyiuo1WoqKiqCbc6K8Hq9qNXqkK8qej29vb3rct6SjHhe+lADw9YZPvyd69hn3etynfUgbENGZWVl8gc/+AF79uwhMjIyrFYmWwWn04nNZsNisVBUVLRh13W5XFy8eJGsrCx27gyP2nCYmyEAc6Mlw6mx8dq1axQWFgZ9/sNqWUun8ko43TnCc99vYX9RKi9+qJ7oiNAYNrUpQ0bx8fE0NDQQHR2tOIMQJSoqitTUVGw2G0ajkfVefMzMzHDhwgVsNhv79+8PK2dgMBi4e/cuaWlpYeUMANLS0sLOGcCcQ1hPGndm8tdv281F3Tj/9Yfh0c2sPEkV1p2qqioyMjJ4+eWXsdvtAT+/2+2mra0Ni8VCdXU1KSkpxMTEBPw664HX6+XixYtkZGRw6NChsFrcSCk5c+bMhu7+Asl6/C2+nnfWb+e/vaGcX7QP8We/uLPui6K1ojSmKWwIkZGRNDY2YjKZsNlsZGdnr/mcXq8Xi8XCvXv3KCgoCGndnMVwuVwYjUbKyspCan7BSjGZTOTn54d8XuZxbJQ67G8fKcJkn+VbF+6Roo3iDxpLN+S6/hA+yxGFsCcqKoqsrCxGRka4deuW3+eRUjIzM+MTd6utrQ07ZzA8PMzp06fJy8sjPT092OasmpmZGcbHx8N2dwCB7UNYCiEEn33DTt5Wu42/e/UuP7gamrL9oDgEhQ1mXhOqsrKSy5cvr7oKaWhoiFdeeQWn08nJkydDvllrMXp7e4mOjubkyZNhFSJayPXr19esAxRsNlKWW6US/I+37+FEeQaf+1kH/3FraMOuvRrC869RIewRQlBXV8e9e/eYnp5e9vVGo5Hz58+TkpLCyZMnSUgIz/GF7e3tuN1ukpOTwzbUMjo6SkNDQ8gKAK6UQMlWrJRItYqvvqeWurxk/vD/3OSSbnxDr78SFIegEDSio6OprKykp6eHa9euLfqa8fFxdDodHo+HQ4cOER0dHZYPUofDwYULF9i9ezdlZWXBNsdvPB4PLS0tm6LBU6/Xb/g1NVFqXvxgA0XpWp77XjNtA2sX2AskikNQCDp79uxh9+7ddHd3+0JIFouFyclJX8I4Ly8vbMMrs7Oz9Pf3s3fv3rB0ZguZmpri8OHDYX8fQNDKkhNjI/nes3tJiYviQ99pQjdqC4odixGenzCFTUdsbCwFBQW+zuKOjg60Wi0NDQ1hPW/h1q1btLW1sWvXrrBfVU9MTNDe3k5cXFywTQkIwdghzJOREMP3n92HWqXi/S82YTQvHzbdCBSHoBAytLe3+6RGvF5vWK9CPR4Pd+/epaCggL179wbbnDUzPzRq3759wTYlYKwkd7WeFKRp+d6ze7HPunn/t69hCgHdI8UhKAQVj8fD9evX6enpobq6moMHD1JcXMyePXuw2Ww0NzeHvKT2Yly+fJm0tLQNT1yuFx0dHURHR4f1bu31bFQfwlLsykngpQ81MGiZ5oPfacI24wqqPYpDUAgKXq+X9vZ2zGYzBQUFlJaWPiREmJiYSEpKCnl5eRgMBvR6fch3ecJcNdSNGzc4fPhw2PVGPA4pJbOzs2FZ4rsUG9WHsBwNBSl8/b11dA3Z+Mg/NjPjCt4CSHEIChvK/MjK/v5+UlNTSU1NXbIxKyMjg/z8fFQqFVevXmV2Nvjb6sfhcDgwm80B19gPNjdv3qS+flEttLAmlPSXjpdn8Le/UUWTfoKP/fMN3J7gSMcrDkFhw3C5XFy+fJnp6WkKCwvZtm3bio/Ny8tj//79DA0N8fLLLzMzM7OOlq4OKSWvvfYao6OjVFRUhHXu4/UMDQ1tqjDRQkJNLuTXq7fxZ2+p4FTnCJ/+cXtQxPDC9p22Wq14PB7U6tCQlFV4PFNTU1y4cIHy8vI1D4ifL0G12+1cuHCBhoYGkpKSAmTp6rHZbIyPj/PEE0+EzejIleJ2u/F6vVRWVgbblHXBYDBQUlISbDMe4v37CzBPufjbV++SEBPJ59+8a0MXGCGxQxBCfEEI0S6EuCmE+KUQYlmRcq1Wy8jISFjElbcqk5OTvPrqq3i9Xp566iny8/MDcl6VSkVCQgLHjh3zDcEJxiAej8dDU1MTubm5m84ZwNycA41Gs6l2PAsJVUf3sRMl/NahQr57Wc+XTvVs6LVDwiEAX5RS7pFSVgO/AP77cgeo1WpiY2M5e/as4hRCDJvNRktLC16vl2PHjhEXF7cuTWWRkZEkJydTUVGBTqdjZGQEp9MZ8Ou8Hiklra2tDAwM0NjYuCmn8jkcDiorKzdNYnwx7t69G2wTFkUIwQtv3Mk76nL5X6d7eOnivQ27dkg4BCmldcGXWmBFT/ikpCRKS0s3RNdcYXlmZmYYHR1Fp9NRUVFBamrqhjwsY2NjqaqqIiYmhvPnz+NwONatVNXtdjM5OUlKSgoFBQXrco1gI6Xk/Pnzm6YB7XGEcjmzSiX467ft5pmKLP7sF3f4UYthY667IVdZAUKIvxBCDADvZQU7hHlyc3MxmUw0Nzevn3EKS+JyubBarVy5coXY2FhqamqCMqAmMTGRJ598Eiklp06dYmBgIKDnn5qa8s073qzOAOakNmpqajZ9fm737t3BNmFJItQq/te7qzlUksanf9TGyx3D637NDZupLIQ4BWQt8qMXpJQ/W/C6zwIxUsrPL3KO54DnAPLy8ur6+3+lK67X68nOzg57eYBwQ6fTodfrOXToUMhNKXO73Vy6dIn8/Pw1P8D7+/vRaDQkJydvyhDRPA6Hg5s3b645+R8OnD17lmPHjgXbjGVxzLp534vXuG208tKHGjhUmram8y01U3nDHMJKEULkA/8upVwy41NfXy9fvyu4ceMGcXFxlJaG7kSizcLt27exWq3s27cvpEXnpJQMDw9jt9tJSEhYdXOVlJLJyUn6+vqoq6vbtAnWeW7fvk1xcXHIOff1oLu7O2yUZ81TTt71zavcn5jiBx/ZR21est/nWsohhMQnWQix8An+FqDLn/PU1NSg0WiYmpoKjGEKDyGl9O0IMjMz2b9/f0g7A5hL0GVnZ1NUVITRaGRychKzeWWSwy6Xi1OnThEREUF9ff2mdwb37t0jOzt7SziDcCMpNorv/dZeMuKj+dBLTXQOWZc/yA9C5dP810KIDiFEO/A08HF/T5Sbm0tTUxPDw+sfb9tKGAwGxsfHkVKSn59PWtratq0bjVqtpra2lri4OO7cucO9e/eWTCpaLBZMJhP79u0L22E8q0FKSW9vL8nJ/q88w42hodCcWvY4MuJj+P5v7SM2KoL3v9jEvfHAl1qHXMhopSwWMppHSsnIyAhxcXGbvlJivZmZmaG/vx+n00llZeWmWiVfvnwZKSV79+4lIiLCd2+Dg4PcuXOHY8eObdou3dej1+vJz8/fVO/vcpjN5qA2NfqLbtTOb3zjCppINf/2/H5ykjSrOj7kQ0aBRghBeno6Fy9exGYLneET4ca5c+fo6uqirKyM3bt3b7qHxYEDBzhw4AAmk4lTp04xPDzMlStXSElJobGxccs4g9HRUUZGRjbd+7sct27dCrYJflGSEcf3nt2LddrF+759jfEAymZvSocAcyGCxsZGpqamgq57Hk5MT09z9uxZ+vv7OXz48KYTans9QgiysrJ48sknsdlsmM1m2tramJqaCuk69UAxHyFoaGgIsiUbTziX1VZuS+SlD8/JZr//xSYs04GRzd60DgHmOlkTExN57bXXNqSDNZyZnZ3l0qVLuFwu9u7d61MY3QpMTk7y8ssvU1xczBve8Ab27dvH1NQU586dw2QyYTKZgm3iunHjxg1cLteWea8XsmPHjmCbsCYaClL4xvvr0Y3aePa715lyutd8zk2ZQ3g9DocDm81GRERE2CVD1xu3201/fz9CCNLS0rZEAnUhw8PDeL1eMjMzF10xSilpa2vD7XZTWFiIVqvdNFU4UkoGBgbIy8sLtilBIVz6EJbj5Y4hfvefWjlQnMaLH6onOmLpnc+WyyG8Hq1WS0ZGBp2dnUxOTgbbnJDA6/UyPT3N5cuXSUpKoqioaMs5g/b2doaHh8nJyXls+EAIQXV1NfX19ahUKpqampiYmAibgT1Lcfr06VVJkG82cnNzg21CQHimMpu/eUcVF3Xja56lsCUcAswpZB4+fJiIiAhOnz6NyxXcUXXBYr7R6tVXX8XhcHDkyBFSU1ODbdaG4nQ6aWpqorKyclU5kuTkZI4cOUJSUhIul4u2tjYGBgawWCzraO36YLfbyc/PD+s4+lrZTGHkd9Tl8qdvqeDVOyP80Y/8n6WwZRzCPPHx8TQ0NDA+Ps7ExESwzdlQBgYGeOWVV9BqtZw8eXJLhs+8Xi937txh165dfsfNVSoVpaWlVFdXk5qaSnd3NxMTE9y+fRu3e+1x3PXG6XTS29u75Tv6R0dHg21CQPnggQI+9fQOfnLDyOd+1uHXDnZr1NW9joSEBLRaLZcuXSI3N5eioqJgm7SuDA0NMTg4SGlpKSdPntxy5YXz6HQ6RkdHOXDgQMDOGRsby969e5FSMjMzQ09PD2q1mvj4eLKzswN2nUDS1tYWNpIN60ldXV2wTQg4v3e8BPush38414s2OoLPvqF8VZ/3LekQYK7k7MiRI3g8Hi5dusS+ffs2Xd25yWTC5XIxOTlJTU3NlqwkgbkwmdFoJC4ubt0mZAkhyMnJIScnB5fLRVdXF9HR0fT29lJZWYlGs7rmofVidHSU8vJy4uPjg21K0GlpadkUSeWFCCH4zDNlTDndfPN8HzERKj759Mqd/9Z8QixArVZTWVlJT0/Ppokpzo917O3tJS0tbU3hkc3AuXPnUKlUZGUtJrYbeCIjI9m9ezcpKSmUlpYyMjLCrVu30Ol0eL3BGZ4Oc+GylpYWtFpt0GwIJULFSQcaIQR/8uYKfrN+O19+TcdXz+hWfOzmWhL7SWJiIomJiVy8eJHU1FR27twZbJP8QkrJ7du3MZvN7N+/n7179wbbpKAyPj7O4OAgR48eDVqYLCkpiaSkJKSU3Lt3zzdNbvv27eTn5xMZGblhtlmtVo4ePbqlFwcL2cwzLVQqwV++bTdOj5cvvtJNdISKjxxePjSuOIQFHDp0CKvVSldXFyUlJWETQpJScuXKFWJiYqipqdmyOYKFuN1u9Ho9tbW1IfH7EEL4clUnTpzA6XRiMBjQ6/XU1dWh1+spLCxct9Jfq9VKW1sbR48eXZfzhyOdnZ2rlkMPJ9QqwRffsQen28uf/3snUREqPrC/YMljwrYxTQgxBvQv+8KHSQPG18GcYKHcT2ij3E9os1XvJ19Kmb7YD8LWIfiDEKL5cR164YhyP6GNcj+hjXI/j6IEExUUFBQUAMUhKCgoKCg8YKs5hG8G24AAo9xPaKPcT2ij3M/r2FI5BAUFBQWFx7PVdggKCgoKCo9hyzkEIcSfCCGMQoibD/69Mdg2BQIhxKeEEFIIEdaKdUKILwgh2h+8N78UQuQE26a1IIT4ohCi68E9/UQIEX5DfBcghHinEOK2EMIrhAjbCh0hxDNCiG4hhE4I8d+Cbc9aEEK8JIQYFUJ0rPVcW84hPODvpZTVD/79R7CNWStCiO3AU8D9YNsSAL4opdwjpawGfgH892AbtEZeBSqllHuAu8Bng2zPWukA3gacD7Yh/iKEUANfBd4A7ALeLYTYFVyr1sR3gWcCcaKt6hA2G38PfBoI+4SQlNK64EstYX5PUspfSinnNbGvAmE9lUVK2Sml7A62HWtkL6CTUvZJKZ3A/wF+Pcg2+Y2U8jwQEC3/reoQPvZgC/+SECI52MasBSHEWwCjlLIt2LYECiHEXwghBoD3Ev47hIU8C/xnsI1QYBswsOBrw4PvbXnCQ6xnlQghTgGLSVu+AHwd+AJzK88vAH/L3Ac1ZFnmfv4YeHpjLVobS92PlPJnUsoXgBeEEJ8FPgZ8fkMNXCXL3c+D17wAuIF/2kjb/GEl9xPmLCZuFdY70UCxKR2ClPLJlbxOCPEt5uLUIc3j7kcIsRsoBNoeCLjlAq1CiL1SyuENNHFVrPT9Af4Z+HdC3CEsdz9CiA8CvwY0yjCo817F+xOuGIDtC77OBQaDZEtIseVCRkKIhWOs3spckiwskVLeklJmSCkLpJQFzP2h14ayM1gOIcTCuY5vAbqCZUsgEEI8A3wGeIuUcirY9igAcB0oFUIUCiGigHcB/y/INoUEW64xTQjxfaCauS2iHvhtKeVQUI0KEEIIPVAvpQxbBUchxI+BMsDLnJrt81JKY3Ct8h8hhA6IBkwPvnVVSvl8EE1aE0KItwJfAdIBM3BTSnkyuFatngfl5l8C1MBLUsq/CLJJfiOE+BfgGHNqpyPA56WUL/p1rq3mEBQUFBQUFmfLhYwUFBQUFBZHcQgKCgoKCoDiEBQUFBQUHqA4BAUFBQUFQHEICgoKCgoPUByCgsIqEEJ4Hiixdgghfr4W9VIhhD7c1WkVNheKQ1BQWB3TD1RyK5kTFPu9YBukoBAoFIegoOA/V1ggiiaE+CMhxPUHwol/uuD7PxVCtDyYI/BcUCxVUFgBikNQUPCDB5r6jTyQPBBCPA2UMietXA3UCSGOPHj5s1LKOqAe+AMhRGoQTFZQWBbFISgorA6NEOImc1IUKcwNwIE5xdmngRtAK1DOnIOAOSfQxtw8hO0Lvq+gEFIoDkFBYXVMP5jmlg9E8ascggD+asEkvhIp5YtCiGPAk8B+KWUVcw4jJhiGKygsh+IQFBT8QEppAf4A+JQQIhJ4BXhWCBEHIITYJoTIABKBSSnllBCiHHgiaEYrKCzDppyHoKCwEUgpbzwIBb1LSvl9IcRO4MqD2RR24H3Ay8DzQoh2oJu5sJGCQkiiqJ0qKCgoKABKyEhBQUFB4QGKQ1BQUFBQABSHoKCgoKDwAMUhKCgoKCgAikNQUFBQUHiA4hAUFBQUFADFISgoKCgoPEBxCAoKCgoKAPx/QnBBJrecwsIAAAAASUVORK5CYII=\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "H = TransferFunction(1, [1,3,2,0])\n",
    "ctl.rlocus(H, kvect=None, xlim=None, ylim=None, plotstr=None, Plot=True, PrintGain=None, grid=None)"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.7.6"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}