Question: Derive an expression for the characteristic equation for the 1-2/2-1 configuration in Fig. Simplify and interpret this equation for the special situation where either Gp11,

Derive an expression for the characteristic equation for the 1-2/2-1 configuration in Fig. Simplify and interpret this equation for the special situation where either Gp11, or Gp22 is zero. Gp11 Ge2 Gp12 Gp21 U2 Op22 (b) 1-2/2-1 controller pairing

Gp11 Ge2 Gp12 Gp21 U2 Op22 (b) 1-2/2-1 controller pairing

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