r(t) + e(t) A closed-loop data system is shown below. The sample data is 10Hz A/D e(k) f=10 Hz K(Z) D/A G (S) y(t) The following equations represent the digital controller and the continuous time plant respectively: a) What are K(z) and Gp(s)? b) The D/A converter is ZOH. What is the closed-loop transfer function M(Z)=Y(Z)/R(Z) Of the equivalent discrete time system