Consider the block diagram of a closed-loop control system as shown in the figure below, where Gp=ps+1Kp and Gc=Kc. Assume that ,Kp,p are positive, real numbers. a) (20 points) Show that the closed-loop transfer function of this system is given by: YYw=(p+Kcp)s+1+KcKp+KfKcKp+Kc(ps+1)