An Unmanned Free-Swimming Submersible (UFSS) vehicle depth is controlled as follows. During forward motion, an elevator surface on the vehicle is deflected by a selected amount. This deflection causes the vehicle to rotate about the pitch axis. The pitch of the vehicle creates a vertical force that causes the vehicle to submerge or rise. The block diagram for the pitch control system is shown in Figure 1, (Johnson, 1980). rigure 1 Requirements: a. Consider the pitch control loop of the UFSS vehicle in figure 1 . Let K2=1 and initially K1=3, Write an m script that will generate a step response, and from this graph, discuss its performance and stability of the system. b. Using a PID Tuner and using K1=3 and K2=1, improve performance of the UFSS so that the vehicle will yield a 2% or better overshoot, and a settling time of 5 seconds or better. c. Make a reflection on the system performance of the uncompensated and compensated systems and comment on the percentage improvement. Provide the simulation results and screenshots showing the responses