Consider a standard closed-loop system shown in Figure 2. a. (7 marks) What are the main advantages and disadvantages of using negative feedback control systems (name five advantages and two disadvantages). b. (7 marks) Determine the output signal Y(s) in terms of reference signal R (s), Input disturbance Ta(s), and measurement noise N(s). c. (4 marks) Explain how the controller Ge(s) should be designed to reduce the influence of both input disturbance and measurement noise in the output. d. (2 marks) Assuming Ta(s) = N(s) = 0, explain how the controller Ge(s) should be designed to reduce the tracking error E (s), that is Y(s) = R(s). R(s) + E(s) G(S) U.(s) Ta(s) Figure 2 U(s) G(s) Y(s) N(s)