Hello! You are not wrong - G1 less than gamma and G2 less than 1/gamma is sufficient for stability. But you can get away with the ever so slightly weaker condition that G2 is only less than or equal to 1/gamma, since this still implies that product of the gains is less than 1 (ie we need ||G1G2||
Shouldn't G1 be less than 1/gamma and G2 less than gamma, or am I just wrong?
Hello! You are not wrong - G1 less than gamma and G2 less than 1/gamma is sufficient for stability. But you can get away with the ever so slightly weaker condition that G2 is only less than or equal to 1/gamma, since this still implies that product of the gains is less than 1 (ie we need ||G1G2||