Q-1 Consider the closed-loop block diagram of the feedback system shown in Figure 1. The transfer functions are given by: GP(s)=(s+1)(2s+1)1;Gv(s)=1;GC(s)=KC(1+5s1);Gm(s)=s+31;Km(s)=1 For a set point change of magnitude 2 , do the following: a) Derive an 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 offset of the final steady state. Fig. 1