Q4. Consider the cascade control system in the Figure. Determine the parameters of the controllers using tuning relations. Plot the closed loop responses for different values of closed loop time constants (or proportional gains and integral time constant) using Simulink. Q4. Consider the cascade control system in the Figure. Determine the parameters of the controllers using tuning relations. Plot the closed loop responses for different values of closed loop time constants (or proportional gains and integral time constant) using Simulink