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Stability of a closed-loop with disturbance in output. Characteristic equation alone or subs...

following expression in frequency domain: $$Y = G_dD + G_pG_c(Y_{sp} - Y)$$ If we rearrange this we reach: $$ Y = \frac{G_pG_c}{1+G_pG_c}Y_{sp} + \frac{G_d}{1+G_pG_c} D$$ All books insist that to check stability
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