A$.$ Consider a chemical process that can be described by the following transfer function matrix:

$G_p(s)=\left[\begin{array}{cc}2& 1\mathrm{.}5\\ \frac{10s+1}{s+1}& ?\\ \frac{1\mathrm{.}5}{s+1}& 2\\ 10s+1& ?\end{array}\right]$

Assume that two proportional Feedback Controllers are to be used so that $G_{ct}=K_{cl}$ and $G_{c2}=K_{c2}.$ Determine the values of $K_{c1}$ and $K_{c2}$ that result in closed$-$loop stability for a $1-1/2-2$ configuration system. Apply the Routh Array Method.

B$.$ Explain the three disadvantages of using a Feedforward control system.

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