Consider the Bode plot of the loop transfer function of a closed loop control system: Bode plot of D(jw)G(jw) is shown. a) Determine the GM and PM of the system. b) Determine the wer of the system. Estimate the approximate equivalent two dominant closed loop pole locations: P1,2 = ywnj1- wn c) Determine the steady state tracking error: what is the steady state tracking error in response to Step input. d) Determine the steady state tracking error: what is the steady state tracking error in response to Ramp input. D(s) G(s) Plant Magnitude (dB) Phase (deg) 2 -20 -40 -90 -135 -180 -225 -270 10-1 Bode Diagram 10 Fronuency (radle) 10