Question: Derive the output C(s), error E(s), and actuator M(s) equations for the diagram in Figure, and obtain the characteristic polynomial. D(s) Cs) + E(s) Fs)

Derive the output C(s), error E(s), and actuator M(s) equations for the diagram in Figure, and obtain the characteristic polynomial.
Derive the output C(s), error E(s), and actuator M(s) equations

D(s) Cs) + E(s) Fs) M(s) + R(s)

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