A feedback control system consists of elements with the following transfer functions: 

note translate :Pengendali : is Controller; Pengendali akhir is final controller ( sorry using bahasa indonesia, thanks)

a. Draw a block diagram of the control system b. Write an equation that expresses the relationship between the response (y(s)) and the input ( ysp(s)) c. Write down the characteristic equation of the system d. Using the Routh - Hurwitz stability criterion, determine the value of Kc for the system stable

- proses : Gp(s)=S2+2S+21 - sensor: Gm(s)=1 - pengendali : Gc(s)=Kc[1+0,1S1] - pengendali akhir : Gf(s)=1