R(s) 1-e- C(s) Gc(s) G(s) S G(S) 10 s2 + 6.5s + 9 From the simplified model shown in the block diagram: a) Determine the discrete transfer function of the process with zero order holder, Gp(z). Use T=0.1 sec. b) Obtain the discrete transfer function of the controller, using the bilinear transformation. Ki 2(2-1) GC(s) = Kp + with S= S T(z + 1) c) Obtain the closed loop discrete transfer function C(z)/R(z). Determine the characteristic equation in terms of Kp and Ki