Assignment 2 Given the following control loop: 2. 2 1 s(s+3) Questions: (a) Calculate the closed loop transfer function for the servo problem and draw the step response. How big is the steady state error? Explain. (b) Calculate the closed loop transfer function for the control problem and draw the step response. How big is the steady state error? Explain. (c) Was the difference between both transfer functions to be expected if you look at the block diagram? (d) The upper left block represents proportional control. Given that the middle block with transfer function equal to s is also part of the controller, can you explain what kind of action this middle block represents? (not covered in class yet)