Problem $3.$ Reconsider the motor control problem from Problem $1.$ After some testing, it was determined that there is both high frequency sensor noise and a possible exible mode. Likewise, it is desired that the system be robust to low frequency load torque disturbances. Therefore, design a controller C$($s$)$ using loopshaping to achieve the following. $($a$.)2\%$ steady state error to a ramp input $($b$.)$ m $50$o $($c$.)$ S$($j $)001$ for $($d$.)$ T$($j $)01$ for $1$ rad$/$sec$.100$ rad$/$sec