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b. Now assume you have a feedback loop closed around the system with a controller D(s) as in thefollowing block diagram:

Derive the closed loop transfer function from reference 0,(s) to pendulum angle O'(s), assumingthat the controller is a simple gain, D(s) = Kp. You should also assume that b 0 (makes thingscleaner for now).%3D

Fig: 1

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Fig: 3