A block diagram for internal model control, a control technique that is considered in Chapter, is shown

Question:

A block diagram for internal model control, a control technique that is considered in Chapter, is shown in Figure. Transfer function Gp denotes the process model, while Gp,denotes the actual process transfer function. It has been assumed that Gv = Gm = 1 for simplicity, Derive closed-loop transfer functions for both the servo and regulatorproblems.