Calculating the equilibrium price. ( Theory- whith no smooth supply and demands curves)

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I was looking for a theory wich explain the following problem:

I have the next , demand, supply curve:

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The book didn't explain how to compute the equilibrium price with this market (only was named). I have no idea, how to compute the equilibrium price on this situation, and I try to search about the theory or model must be applied to solve it, but I can't find any like this example.

I will apreciate if someone know where can I find the material to solve it. Thanks for your help.