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A system has the open loop transfer function given by G(s) = \frac{1}{s(s^2 + 2s +2 )} and it has unit feedback.
a) From its Root Locus Plot determine the frequency and the gain K at the point when the system oscillates with no damping.
b) The numbers of finite and infinite poles.
c) The starting angles and the centroid (point of intersection) of the asymptotes.
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