Question 2 For the system seen in Figure Q2 below: C(s) G₁ Н1 G₂ Figure Q2 ► G3 H₂ G4 R(s)
b) The above system was modelled and found to have the transfer function R(s) 12k = C(s) s³ +85² +6s+12K i) Use the Routh Array to determine the range of gains K for which the system is stable. Use the Final Value Theorem to find the steady-state output R(t) if K-5 and the input is a ramp of slope 2. (You are given that if f(t) = t, then F(s) = 1/2.) ii) (4 marks) (4 marks) Total: 20 marks
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