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In control systems analysis, transfer functions are developed that mathematically relate the dynamics of a system's input to its output. A transfer function for a robotic positioning system is given by
where G(s) 5 system gain, C(s) 5 system output, N(s) 5 system input, and s 5 Laplace transform complex frequency. Use a numerical technique to find the roots of the numerator and denominator and factor these into the form
Where
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