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For the following control system: G(S)=S(S+1)2(S+4)1 a) Find the characteristic equation for the system. b) Construct the Routh-Hurwitz array. c) Determine the range of gain

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For the following control system: G(S)=S(S+1)2(S+4)1 a) Find the characteristic equation for the system. b) Construct the Routh-Hurwitz array. c) Determine the range of gain K for which the system is stable. d) What would be the value of the gain that will make the system marginal stable. Justify your

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