2. Consider the block diagram of the closed loop system shown below. For a unit step change in the set point, a) Derive the closed loop feedback response of the system (in the s domain) and find expressions for (natural period of oscillation) and (damping factor). b) Which value of the 1 for Kp=0.5,p=4 and Kc=1 that makes the system oscillatory? c) Find the value of 1 for KD=0.5,p=4 and Kc=1 that makes the system for 1/4 decay ratio tuning