CP7.10 Consider the system represented in state variable form

(a) Determine the characteristic equation.

(b) Using the Routh–Hurwitz criterion, determine the values of

k for which the system is stable.

(c) Develop an m-file to plot the root locus, and compare the results to those obtained in (b).

x(t) = Ax(t) + Bu(t) y(t)=Cx(t) + Du(t),