A system can be represented by the block diagram below:
A) Derive (write the different steps explicitly. not just the solution!) the closed-loop transfer function relating the set point (Ysp) to the output Y
B) Derive (write derivations explicitly. not just the solution!) the closed-loop transfer function relating the disturbance (D) to the output Y
C) The system contains a feedfonvard controller Gf. Will this feedfonvard controller have an influence on the stability of the system? Motivate your answer (yes or no is not considered as a sufficient answer. you need to explain why you answer yes or no).
