Therefore 1 becomes: The RC structure was originally proposed in continuous time Hara et al., 1988; Inoue et al., 1981 while the first digital implementation was reported in Nakano and Hara 1986.
El análisis de la estabilidad del sistema de lazo cerrado figura 1 no resulta trivial, por ello se sigue el análisis planteado en Inoue et al. 1981.