(2) Consider the unity feedback system shown below. Let the output of the general H_infinity form be z=[e u] and let the input be w=fr du d nj'. (a) Formulate the H_indinity form plant model P11, P12, P21 and P22. (b) Determine the expression for the closed loop system such that the input is w=fr du d nj' and the output is z=[e u]. (c) Formulate for staked control of /s/T/KS/ for error minimization, noise rejection and limiting actuating signal. du d (2) Consider the unity feedback system shown below. Let the output of the general H_infinity form be z=[e u] and let the input be w=fr du d nj'. (a) Formulate the H_indinity form plant model P11, P12, P21 and P22. (b) Determine the expression for the closed loop system such that the input is w=fr du d nj' and the output is z=[e u]. (c) Formulate for staked control of /s/T/KS/ for error minimization, noise rejection and limiting actuating signal. du d