A feedback control system has the structure shown in Figure P2.35. Determine the closed-loop transfer function Y(s)/R(s)
(a) By block diagram manipulation and
(b) By using a signal-flow graph and Mason's signal-flow gain formula.
(c) Select the gains K1, and K2 so that the closed-loop response to a step input is critically damped with two equal roots at s = -10.
(d) Plot the critically damped response for a unit step input. What is the time required for the step response to reach 90% of its final value?

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-F Pts) K- FIGURE P2.35 Multiloop feedback system.