Solve Exercise 16.3 using MATLAB, but use IMC tuning rules for both the master and slave controllers. Design Kc2 first and then use that value to design Gc1 (PI controller). The higher-order transfer function will need to be approximated first by a FOPTD model using a step test. Plot closed-loop responses for different values of Tc1 (outer loop) and Tc2 (inner loop).