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Exercise 3 (40 points) A block diagram for internal model control, a con- trol technique that is considered in Chapter 12, is shown in Fig. E11.7. Transfer function , denotes the process model, while G, denotes the actual process transfer function. It has been assumed that Gy= Gm= 1 for simplicity. Derive closed- loop transfer functions for both the servo and disturbance problems. Gd Y sp U Y E GC G Gp