Your boss asks you to evaluate a unique control scheme shown below. For this particular control scheme, two separate measurement devices are used. Y'. m1 Gm1 Y' U' E' Y's sp GC Gp Y'. m2 Gm2 A. Derive the closed loop transfer function, Y'(s)/Y' sp(s) B. A proportional controller is to be used. Will the system be stable if Kc = 1.5? Justify your answer. You are given the following transfer functions: 2 4s +1 Gm1 = 3 Gm2 = 2s +1 1 Gp = s+s+1 C. Using Simulink, simulate the response of y(t) to a step increase in ysp (t) using a controller gain of 0.5 and the transfer functions given in part b. Is the response stable or unstable?