Consider the unmanned underwater vehicle (UUV) problem presented in DP4.7. The control system is shown in Figure P12.1, where R(s) - 0, the desired roll angle, and Td[s) = 1/s. We select Gc(s) = K(s + 2), where K = 4. (a) Plot 20 log |T| and 20 og|STK| on a Gc(s) = K(s - 1) Bode diagram, (b) Evaluate |STK| at wb,wb/2 and wb/4 (T(s) = Y(s) / R(s)).