12.2 Consider the two feedback control strategies shown in Fig. 12.6 (with G = GvGpGm) and the following transfer functions: 2(1 - 3s) Gp(s) = Gd(s) = , s Gv(s) = 4, (a) Design an IMC controller, c;, using a filter,f= 1/(TcS + 1). (b) Suppose that the IMC controller will be implemented as a controller Gc in the classical feedback control configuration of Fig. 12.6(a). Derive an expression for Gc and report it in a standard form