PLEASE ANSWER ONLY PARTS C AND D PLEASE ANSWER ONLY PARTS C AND D PLEASE USE MATLAB AND SHOW THE CODE FOR THIS QUESTION PLEASE USE MATLAB AND SHOW THE CODE FOR THIS QUESTION

Tols) Ris) Ge(s) s IGISI Yus) His) Where Ge(s) is a controller, G(s) represents a system, H(s) is the feedback transducer, To(s) is a disturbance, R(s) is the input, and y(s) is the output. For this lab To(s)=0. k s+a s+2 1 s(5+1)(s+4) and H(s) = 1 a. 2) If G.(s) = G(S) Use the Routh Hurwitz Criterion to determine the bounds of kand a for stability. b. Plot the marginal stability line. The plot should have k along the x-axis and a along the y- axis. Plot for k=1: 0.001: 200 c. Indicate/shade on the plot which values of k and a correspond to a stable system. d. Verify the Routh Hurwitz Criterion by finding the system pole locations on the marginal stability line for the following values of k. i. K=90 ii. K=20 Tols) Ris) Ge(s) s IGISI Yus) His) Where Ge(s) is a controller, G(s) represents a system, H(s) is the feedback transducer, To(s) is a disturbance, R(s) is the input, and y(s) is the output. For this lab To(s)=0. k s+a s+2 1 s(5+1)(s+4) and H(s) = 1 a. 2) If G.(s) = G(S) Use the Routh Hurwitz Criterion to determine the bounds of kand a for stability. b. Plot the marginal stability line. The plot should have k along the x-axis and a along the y- axis. Plot for k=1: 0.001: 200 c. Indicate/shade on the plot which values of k and a correspond to a stable system. d. Verify the Routh Hurwitz Criterion by finding the system pole locations on the marginal stability line for the following values of k. i. K=90 ii. K=20