Question 4 Consider the closed-loop systems shown in Figure 1, where the transfer function of the process is that of a second-order system as shown: Gp(s)=p2s2+2s+1kpWhere(kp=1,=0.5,=0.5,kc=5) Figure 1: closed-loop system. If the controller is a P controller Gc(s)=kc. Therefore: a) Determine the closed-loop transfer function b) Determine the offset to a unit step change of the set point c) Determine the maximum value of the response