[6 marks] (d) With the aid of the Routh-Hurwitz stability criterion, investigate the range of the gain K that would guar
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[6 marks] (d) With the aid of the Routh-Hurwitz stability criterion, investigate the range of the gain K that would guarantee the stability of the system and hence, find the frequency of oscillation at the marginal stability point. 19 martzel
K Gc(s) Gp(s) (s + 5) (s + 1)(s + 4) and H(S) = 1. (s + 3)2 R(S) E(S) C(s). 10) O Gc(s) e(0) Gp(s) co H(s) Figure Qla