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. 2021 Feb 18;51:477–487. doi: 10.1016/j.arcontrol.2021.01.006
St+1=StbptτpIt+rtτrEtNSt, (1a)
Et+1=(1σσ)Et+bptτpIt+rtτrEtNSt, (1b)
It+1=(1γμ)It+σEt, (1c)
Rt+1=Rt+γIt+σEt, (1d)
Dt+1=Dt+μIt, (1e)