2. Consider the following diagram r(s) 1 K (s+10) H H. L(s) y(s). a) Consider H = 0 and H = 0. (i) Derive the loop transfer function L(s). (ii) Draw the Nyquist plot. From the Nyquist plot, justify whether the closed-loop system is stable or not for varying Kp. b) Consider H = 3 and H = -10. (i) Derive the loop transfer function L(s). [2] [6] [2] (ii) Draw the Nyquist plot. From the Nyquist plot, derive the range of K, such that the [10] closed-loop system is stable.