The DC-motor speed control system is shown in the figure below, where y is the motor speed, va is the armature voltage, and w is the load torque (as disturbance here). Assume the armature voltage determined by the controller Va(s) kiE(s)+kE(s)/s. where e = r - y RO- (a) Find the transfer function from W to Y. (b) Find the transfer function from R to Y. (c) determine values for k1 and k2 so that the closed-loop system will have poles at -60 60j > D (s) 600 OW 1500 1 s+60 -OY