Problem 4 (25 pts): Consider a process y(s)=g(s)u(s)+gd(s)d(s), with g(s)=(2s+1)(0.5s+1)23gd(s)=(2s+1)10 We use feedback control and the measurement transfer function for the output y is gm(s)=(1.5s+1)e3s (a) Make a block diagram of the system (with symbols only) (b) Derive a PI-controller c(s) by using the SIMC-rules. Note that feedback control is based on the measurement of y