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R(s) s +1 Y(s) s(s+2)(s+20) For the feedback control system shown above (I) Using the Routh-Hurwitz test, determine the range for gain K so that the closed-loop system (2) At wha is stable. t value of gain K will marginally stable roots exiť? What are the numerical values of these roots?

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(St I+ k(St) s[st) (st2) @ws.) Csm) +蜓+D Kls) kstI I 40 ぐ } 2-2 Mavginaly steb on氺 axis

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