Determine using MATLAB the closed loop fuctions in factored form for models in part 3 and 4(part 3 is when Gc(s) is constant, part 4 is when Gc(s) is a function)

Figure 4 When Gc(s)=K=192.064, the system performance specifications, based on the dominant poles approximation, are expected to be as follows: %OS=20,ts=2.23sec,,tp=0.897sec.,e()ramp=0.312 When Gc(s)=(s+29.101)(s+0.01)1971.569(s+.6)(s+0.04713), the system performance specifications, based on the dominant poles approximation, are expected to be as follows: %OS=20,ts=1.119sec.,tp=0.45sec.,e()ramp=0.313