2. A feedback control system consists of a P controller and a nominal model given below, G(s) = (3) s+4s+3 To address modeling error between uncertain processes and nominal model, multiplicative uncertainty equation with a constant uncertainty weighting function, i.e. Im(s) = B where B is a positive constant, is considered. What are the respective ranges of B tolerable by the feedback control system while ensuring robust stability requirement when controller gains, 0.5 and 3, are designed? You need to provide detailed derivation of your answer. (25 Marks)