(a) (b) (c) (d) Determine the open-loop transfer function for the system shown in Figure Q2 and hence obtain an expression for the closed-loop transfer function. [4] kas C + s+1 S +5 +1 Figure Q2 Find the state-space representation in phase-variable form for the above closed- loop system. Assume kp = 2 and ka = 1. [9] Draw a signal flow diagram for the above system, assuming phase-variable form. [3] Explain briefly the similarities between the Root locus technique and Nyquist criterion. [4]