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(b) The block diagram of a roll stabilizer for a ship is shown in Figure 1(b), subjected to a unit step disturbance, Tas). Minor loop rate feedback (Kes) is included because of the low damping associated with the ship dynamics, where: G(s) 0.5 52 +0.25 +1 (1) Find the equations that must be satisfied by Ka, Ki and Kg to ensure both of the ...

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