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Robert Dahl, Polyarchy (Yale University Press, 1971)
Democracy, or more generally polyarchy, has two key dimensions: public contestation and public participation. In other words governments must both allow opposition and allow large amounts of people to join in this opposition to be democracies. The greater the cost of suppressing opposition than the cost of tolerating it, the more likely a regime is to be competitive.
Dahl defines democracy generally as a government that is responsive to its citizens' preferences
Notes for Pomona class Poli 005: Intro to Comparative Politics