$2.$ Given a complicated process model in the form:

$-3($s$2+2$s$-8)$e$-2$s

$(0\mathrm{.}1$s$+1)2($s$2+$s$+1)$

a$)$ Propose a reasonable IMC controller c$($s$)$

y$($s$)=7$

u$($s$)+$

$-6$

$3$s$+1$

d$($s$)$