3. (Total: 11 Points) Multiple Input Multiple Output (MIMO) plant controlled by a set of PID controllers a. (5 Points) Given a plant with 2 inputs (ui, uz) and 2 outputs (y1, y2), draw a control diagram with one distinct reference and one distinct PID Controller for each input-output pair (ui). Both control loops are supposed to operate independent of each other. b. (4 Points) Assuming that the control system works perfectly for each input-output pair ( w), describe a situation where the above control system cannot properly work. Your response should hold in a sentence with 25 words or less. C. (2 Points) Can PID controller handle constraints? Your response should hold in a sentence with 25 words or less. 3. (Total: 11 Points) Multiple Input Multiple Output (MIMO) plant controlled by a set of PID controllers a. (5 Points) Given a plant with 2 inputs (ui, uz) and 2 outputs (y1, y2), draw a control diagram with one distinct reference and one distinct PID Controller for each input-output pair (ui). Both control loops are supposed to operate independent of each other. b. (4 Points) Assuming that the control system works perfectly for each input-output pair ( w), describe a situation where the above control system cannot properly work. Your response should hold in a sentence with 25 words or less. C. (2 Points) Can PID controller handle constraints? Your response should hold in a sentence with 25 words or less