(Quadrotor Control) The translational dynamics of a quadrotor can be modeled as my(t) = -by(t) + mgo(t) J(t) = b(t) + u(t) f1 2 where y is the position, is the angle, u = r(fi -f2) is the input torque, m is the mass, J is the inertia, and b1, b2 are friction coefficients. (a) What is the transfer function from U(s) to Y(s) for this system? (b) What type of test signal can we use to model constant velocity? (c) What is the system type? What system type is needed for this requirement? (d) Would a P-controller u(t) = Kpe(t) satisfy this design requirement? (e) For parameters m = 1, J = 1, b = 1, b2 = 2, and 9 = 9.81, and controller gain Kp 1 plot the step response of the closed-loop system. Is it stable? Do you think it is possible to design Kp so that it is stable?