16.322 Stochastic Estimation and Control, Fall 2004 Prof vander velde is finite If F(s) is rational and has a Ist order pole at a F(s) D(s) hen Res(a)m=l=lim[(s-a)F(S)I (a-ba-c Page 6 of 616.322 Stochastic Estimation and Control, Fall 2004 Prof. Vander Velde Page 6 of 6 lim ( ) ( )m s a s a Fs → ⎡ ⎤ − ⎣ ⎦ is finite. If F s( ) is rational and has a 1st order pole at a , ( ) ( ) ( ) ( ) ( )( )... N s F s D s N s s as b = = − − then Res( ) lim ( ) ( ) 1 [ ] ( ) ( )( )... m s a a s aFs N a a ba c = → = − = − −