The inpat-output relationship of the boiler process control system at Dela Beverages Lid with two controlled outputs and two manipulated inputs are given by: y1=0.1s+11m1+s+15m2y2=0.5s+11m1+0.4s+12m2 Form two loops by coupling m1 with yl and m2 with y2. The closed-loop input-output relationships are: H11=0.1s+11H12=s+15H21=0.5s+11H22=0.4s+12 Let the two controllers be simple proportional controllers with Gel=Ke and G22=K22. Analyze the stability of the closed-loop response by: [10] i. Tuning each controller separately [15] ii. Tuning with both loops closed