7. Consider the closed-loop system in Figure. Suppose that all gains are positive, that is, K1 : 0, K2 > 0, K3 > 0, K4 > 0, and K5 > 0. (a) Determine the closed-loop transfer function T(s) = Y(s)/R(s). (b) Obtain the conditions on selecting the gains K1, K2, K3, K4, and Ks, so that the closed-loop system is guaranteed to be stable.

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