The block diagram of a linear control system is shown in the Fig, where r(t) is the reference input and n(t) is the disturbance. 1. Find the steady-state VALUE of e(t) when n(t)= 0 and r(t)= tus(t). Find the conditions on the values of and K so that the solution is valid N (s) Rcs), E(s) sta S controller + K(+3) (s² -1) Process Use MATLAB: 2) Constrct the root loci for K>=0 with = 1. Analyze the result 3) Construct a Bode plot and analyze the phase margin and gian margin 4) Construct the Nyquist Diagram and analyze the system stability 5) Show the system response to a unit step command for n(t0= 0 and a unit step disturbance input for r(t) 9(5)