The closed-loop system in Figure Q.5 has the following transfer functions : Gp(s) = G,(s) = = S+1 2 Ga(s) = (5+1)(35+1) = Gm = Gt = Km = 1 = D. G, GE Disturbance FF controller Sensor/transmitter 2 G. 15+ 1X 33+1) . YA Y. YE sti E PRE P +1 C . G. G T 01 G. FB controller Control valve Y. Gm Sensor/transmitter [a] a Design a feedforward controller using a dynamical model. Communicate your answer well as you work through the solution. [11 marks] [b] How do you test the workability of the controller? [4 marks]