As discussed in class, feedforward and feedback controllers both have benefits. In real-world systems, they are often used together; a simple example is shown here: G(s) d u G(s) P(s) H(s) Briefly describe how the feedforward and feedback controllers (G (s) and G(s), respectively) might be designed to control the plant (P(s)). In other words, broadly speaking, what might be the responsibilities or design objectives for each controller? [2 marks] For the block diagram shown on the previous page, find each of the following transfer functions. [2 marks each] (a) Try = Y(s)/R(s) (b) Tay=Y(s)/D(s) (c) Tru = U(s)/R(s)