A control law has the following TF:-\frac{V(s)}{e(s)}=K_{p}+K_{d} s-The control input (u (volts)) is sent to a hydraulic actuator with a DC gain of K1 (N/volt)and a time constant of t. The hydraulic actuator is then applied to the following system:-a) What is v(t) as a function of e(t)-b) TF for the hydraulic actuator-c) TF for the mechanical system (assuming small angles)-d) Block diagram schematic of the system-e) Sketch the Bode Diagram for each TF-g) Calculate the gain and phase at oo for part f-f) Determine the combined TF (from e to o) and sketch its bode diagram