R() E(s) E(s) G₁(s) T=2 G2() Cl₂) Ga(s) C*(s) H(s) T=1 Figure 5: Block diagram for Exercise 1 Find out the closed loop discrete transfer function G₁(s)=2Gho(s); Gho(s) G₂(s) = s+2 C(2) if R(z) Ga(s) = H(s) = 5Go(s); s+1 where Gho(s) represents zero order hold.