Figure P5.42 Shows the block diagram of an Automatic Voltage Regulator (Gozde, 2011). Assume in this diagram the following parameter values: K_a = 10, T_a = 0.1,K_e = 1, T_e = 0.4, K_g = 1, T_g = 1, K_s = 1, and T_s = 0.001. Also assume that the PID transfer function is substituted by a simple integrator, namely G_PID(s) = K/s. Find the range of K for which the system is closed-loop stable.

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Controller Plant K, K, Kg A Vrer (s)+AVds) u(s) T,T,T, AV (s) a'e'g GPID(s) PID Compensator Amplifier, Exciter, Generator AV,(s) Feedback K, T, s+ Sensor FIGURE P5.42