Reduce the block diagram to unity feedback form and find the system characteristic equation.

1
s3 + 2s2 + 3s – 1 = 0
2
s3 + 2s2 + 3s + 1 = 0
3
s3 + 2s2 - 2s – 1 = 0
4
s3 + 3s2 + 2s + 1 = 0

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