In this problem, you will design a DC motor speed control system using the dual-loop feedback control approach. Note that the DC motor transfer function is where Y(s) and U(s) are the Y(s) 10s- 10 U(s) 1-(-5s) s+5' angular velocity output and the control input voltage of the DC motor, respectively. -1 E(s) R(s) x2(t) U(s) 10 x (t) Y(s) S S x2(t) = e(t) K u(t) y(t) = x(t) K (4a) Use the Mason's Gain Formula to find the transfer function Y(s)/R(s) in terms of the parameteres K, and K. (3%) (4b) Use the Mason's Gain Formula to find the transfer function U(s)/R(s) in terms of the parameteres K and K. (2%)