Question: A multi-loop block diagram is shown in Figure E3.9.The state variables are denoted by x1 and x2. (a) Determine a state variable representation of the

A multi-loop block diagram is shown in Figure E3.9.The state variables are denoted by x1 and x2.
(a) Determine a state variable representation of the closed-loop system where the output is denoted by y(t) and the input is r(t).
(b) Determine the characteristic equation.

X 1 Y(s) R(S) X, FIGURE E3.9 Multi-loop feedback control system.

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