3. Derive the closed-loop transfer function between L(s) and y(s) for the follow- ing control block diagram (this is known as a feed forward/feedback con- troller). L(s) 8(s) w(s) (s) e(s) r(s) ++ +1 + z(s) od moto + g(s) gp(s) y(s) x(s) v(s) u(s) Ym(s) 8 (s) How would you check the stability of the closed-loop system? Will the stabil- ity of this system be any different than that of the standard feedback system? Why?