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1

NC1

3a No Control

Step1

1
1

1
2
s +1.5s+0.5

D(s)1

G(s)1

2
WC1

3a With Control

Step4

25s2+37.5s+12.5
s2+5.1s

1
s2+1.5s+0.5

D(s)4

G(s)4

3b No Control

Step2

Scope1

Scope4

3
NC2

1
1

1
5s3+11s2+7s+1

D(s)2

G(s)2

Scope2
4
WC2

3b With Control
1
2
s +1.02s
Step5

Scope5

D(s)5

5
NC3

3c No Control

Step3

1
1

5
s3+1.4s2+s

D(s)3

G(s)3

3c With Control

Scope3
6
WC3

6.25
s2+2.55s
Step6

D(s)6

Scope6

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