A physical system is translated into functional block diagram of the type shown in the Fig.18.36. The command input \(r(t)\) and controlled output \(c(t)\) of this system are given by

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C(s) R(s) E(s) G(s) B(s) H(s) Fig.18.36 C(s) (a) G(s) R(s) G(s) 1+ (b) C(s) R(s) H(s) (c) C(s) G(s) = R(s) 1- G(s)H(s) (d) C(s) R(s) = G(s) 1+ G(s)H(s) G(s) 1- G(s)H(s)