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An automatic depth-control system for a robot submarine is shown in Figure P3.7. The depth is measured by a pressure transducer. The gain of the stern plane actuator is K=1 when the vertical velocity is 25 m / s. The submarine has the approximate transfer function G(s)=((s+1)^2)/(s^2+1), and the feedback transducer is H(s)=2 s+1. (a) Determine a state-space representation for the system. (b) Determine whether the system is stable. | Numerade
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