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The block diagram of a feedback control system isshown in the following diagram:D(6)/(4s 1)GpGcYYspKc0.5(4)/(s 3)(-2)/(1 - s)YGm(1)/(s 10)a) Derive the closed-loop servo and regulatorytransfer functions, i.e. Y(s)/Ysp(s) and Y(s)/D(s)for this system.b) Determine the maximum or minimum value ofthe controller gain, Kc, that results in amarginally stable closed-loop system.c) Test the values you determined in Simulink andcomment on your answer.
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