A control system is shown in Figure DP2.1. The transfer functions G2(s) and H2(s) are fixed. Determine

Question:

A control system is shown in Figure DP2.1. The transfer functions G2(s) and H2(s) are fixed. Determine the transfer functions G1(s) and H1(s) so that the closed-loop transfer function Y(s)/R(s) is exactly equal to 1.
Figure DP2.1
Selection of transfer functions.