16. 322 Stochastic Estimation and Control. Fall 2004 Prof. VanderⅤelde Thus in this case the optimum transfer function from input to output D(s)S(s) S,(S) F(s)H0(s)= S,(S)L and the optimum function to be cascaded with the fixed part is obtained from this by division by F(s), so that the fixed part is compensated out by cancellation Page 6 of 616.322 Stochastic Estimation and Control, Fall 2004 Prof. Vander Velde Page 6 of 6 Thus in this case the optimum transfer function from input to output is 0 () () ( ) () () ( ) is ii R L ii L DsS s S s FsH s S s ⎡ ⎤ ⎢ ⎥ ⎣ ⎦ = and the optimum function to be cascaded with the fixed part is obtained from this by division by F s( ) , so that the fixed part is compensated out by cancellation