For the value of kp = 0.2 and given a unit step reference input, use gcl(s) to obtain the controlled output θ(s). next, using the poles of θ(s), provide the formulation of θ(t) as a function of time. do not compute the residues. (d) for each value of controller gain kp = 0.2, 0.5, 1.0, 2.0, obtain the response of the closed-loop output θ(t) given that the reference is a unit step input. you can use the step command for this purpose, or build the model in simulink. superimpose the responses to be able to compare the time scales. how does a change in kp influence the response? briefly explain.