A block diagram of a closed loop control system is shown in Figure 5. The transfer function of process is \frac{5}{(s+1)(s+7)}. (a) Calculate the transfer function ($G_c(s)$) of PI-controller with $K_p$=2 and $K_i$=2. (b) Calculate the overall transfer function $\frac{\theta_o}{\theta_i}$ of the system.
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