In this problem, you will demonstrate your knowledge of the reference tracking and disturbance reject properties of different system-types. For each part answer the following (1 point each): (i) What is the system-type of the plant? (ii) What is the system-type of the controller? (iii) What is the highest degree reference that can be perfectly tracked? In other words, maximum k such that reference R(s)=1/sk can be tracked with zero steady-state error. (iv) What is the highest degree disturbance that can be rejected? In other words, maximum k such that disturbance D(s)=1/sk can be rejected with zero steady-state error. If you make up numbers then you will be given a zero on the problem. b) Plant: Controller