3.5. Closed-Loop Analysis. 3.5.1. Output Response to Step Reference (Try). 1) Obtain the closed-loop transfer function from reference to output (with prefilter) Try (8) for the chosen controller parameters k and a. Hint: Plug the numerical values of k, a into (8). 2) Implement the Try transfer function in MATLAB. Obtain the output response to a unit step reference. What is the steady-state value of the output y? Hint: Use the step command on the transfer function Try (with pre-filter) you implemented in MATLAB. Then see the value of y in the steady state. 3) Obtain the Bode magnitude plot of Try in MATLAB. What is the DC gain? Hint: The DC gain can be obtained by looking at the low-frequency gain of the Bode mag- nitude plot in this case. 4) Do the above two (time- and frequency-domain results) match? Hint: Convert the Bode magnitude gain from dB to magnitude if necessary. Try = WPOK 1+ POK = $ + ka m 2ve+k ka 1000 ka s+ $ + 20+k s+ m m 1000 ka 1000 (8)