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The characteristic equation for a unity-gain negative feedback system is given b...

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The characteristic equation for a unity-gain negative

feedback system is given by

, where k denotes the compensator

gain of

the forward path transfer function. Let

k = kmax > 0

be the

value of the gain at which the closed-loop system becomes marginally stable. For

this value of the gain, determine the locations of the closed-loop poles. Determine the

location of the closed-loop pole,

, which is stable at this value of the gain.

The value of p =  

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