3. Consider the block diagram of a closed loop control system as shown in the figure below, where Gp=p+1kp and Gc=kc. assume that ,kp, ip are nocitrin ineal numbert. Show that the closed loop transfer function of this system is given by: yysp=(p+kcp)s+1+kckp+kckckp+kc(Ep+1) B. Find the conditions on Kc for which the system is closed-loop stable, and show that stability can be captured by a single condition on Kc, which does not depend on T ? C. Will there be a steady state offset in the response of this system to a unit step change in Ysp