Exercise 3: (50 points) Let a system be described by the block diagram below, with R1=2,R2=1,W1(s)=s+21,W2(s)=3s2,W3(s)(s+1)(s1)s2 1. Use block operations to simplify the diagram and obtain a series configuration between subsystems 1 and 2. 2. Find the transfer functions H1(s) and H2(s) for the subsystems 1 and 2 3. Discuss the asymptotic and BIBO stability for system and subsystems 1 and 2. 4. ** If it exists, find a K that stabilizes the complete system . 5. Set K=1 and find two realizations 1={A1,B1,C1} and 2={A2,B2,C2} that have the total number of states of the initial block diagram. 6. Analyze the observability and controllability of system ind and subsystems 1 and 2