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Question 4 The block diagram in Figure 2 describes temperature control in a room. The measurement signal y is the temperature in the room. The control signal u is the power of the radiators. The reference value r is the desired temperature. A controller GR(s) controls the power of the radiators based on the difference of the desired and measured temperature, e. The temperature of the room is also affected by the outdoor temperature, which may be seen a disturbance, d. R(8) E(s) GR(S) U(s) D(s) Gr(s) Y(s) Figure 2 a. Determine the transfer function from R(s) to Y(s). (2.5 Marks) b. Determine the transfer function from D(s) to Y(s). (2.5 Marks) c. Determine the transfer function from R(s) to E(s). (2.5 Marks) d. Determine the transfer function from D(s) to U(s). (2.5 Marks) I