Consider the closed-loop block diagram of the feedback system shown in the figure. For a unit step change in the set point change; a. Derive and expression for the closed-loop response in the Laplace domain. b. Find how the closed-loop output responds with time to the set point step change above. c. Compute the maximum value of y(t) and state when it occurs. d. Compute the offset of the final steady state. e. Compute the period of oscillation of the closed-loop response