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Control Systems Under Proportional-Integral Control

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Consider a block diagram describing a system under proportional-integral control (as show in figure in attachment):
Find the constraints and determine the range (using the Routh-Herwitz criterion) of Kp and Ki. Also, find the closed loop system transfer function assuming the controller gains are set to a specific value.

(Please see attachment for complete problems and diagram)

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The solution provides comprehensive explanations of how to find the closed loop transfer function of the described system.

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