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+syms G1 G2 G3 G4 G5 H5
+
+//with X(s)=0
+
+a= G2/(G2+1)
+b= a*G3*(G5/(1+G5*H5)) //G5 and H5 are in a loop
+c= b/(1+b) //unity feedback
+Y= G1*c
+
+disp(Y,"R/S=")
+
+//with R(s)=0
+
+x=G2/(1+G2)
+y=G5/(1+G5*H5)
+z=x*(-G3)
+Y2=y/(1-(z))
+
+disp(Y2,"X/C = ")
+
+