(BMMH 3323) SULIT (c) Steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset which translate into block diagram as shown in Figure Q3(c). C(S) (i) Construct the closed loop transfer function, R(S) [2 marks] Extract the characteristic equation from the transfer function. [2 marks] Find the range of gain, K so that system reach stable condition. [5 marks] R(s) C(s) K TH 1 S2 + 4s + 3 Figure Q3(e): Steering mechanism