Controller design for the helicopter a$)$ The controller has the transfer function GR$($s$),$ the setpoint is r$.$ Extend your block diagram to include feedback control of the yaw angle speed of the helicopter. b$)$ Determine the reference transfer function GR$($s$)=$ $($s$)$ R$($s$)$ as a function of GC$($s$).$ c$)$ The following requirements are placed on the closed control loop: $$ GR$($s$)$ is a first$-$order system with time constant TR$.$ The closed control loop has no permanent control deviation. Specify the transfer function GR$,$des$($s$)$ in general form. d$)$ Now determine GC$($s$)$ so that the requirements from c$.)$ are met. Which controller type leads to the desired behaviour? e$)$ What is the disturbance transfer function Gz$($s$)=$ $($s$)$ Z$($s$)$ of the closed control loop with the controller determined in d$.)?$ f$)$ How is the compensation of the pole of the plant by the zero position of the controller to be assessed with regard to modelling inaccuracies?