Consider the closed-loop control system shown below: whcre K1 and K2 arc the positive constants. Derive the closed-loop sensitivity function: S(s) = E(s)/R(e). (2) (2.5 points) Determine K, and K2

such that wn = 4 rad/sec, and t, = 1 sec. Note:uhere u and t are the natural freguency and damning ratio respectivel: t_{s}=\frac{4}{\omega_{n}} \text {, where } \omega_{n} \text { and } \zeta \text { are the natural frequency and damping ratio, respectively. }