Question: Please see the problem described in the figure below. I am not sure how to get started with this problem. Suppose we have the given

Please see the problem described in the figure below. I am not sure how to get started with this problem. Suppose we have the given transfer function and signals, how can we use the internal model principle to design the feedback controller? That part is pretty straight-forward, but how can I make it independent of the signals? Any help or tips would be appreciated.

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