Art 31.frequency response2 (a) draw the bode plot of open-loop transfer function whenk= 1.(b) use bode plot of open-loop transfer function to determine the type of system (do notuse transfer function)(c) for what input the system will have constant steady-state error.(d) for the unit input in item (c) calculate the constant steady-state error.(use bode plot tocalculate the ) design a lead compensator such that the steady-state error is less than 0.1 and phasemargin is at least 18? 2.state-space(a) find modal canonical form ofgp.(b) design a reference tracking with full-state feedback such that! n= 1 rad/sec and? = 0: )build a simulink model of reference tracking system obtained in previous part. assume the reference input is 1, then plot the actual erroreresponse. save your 1and submit the le in the dropbox calledproject part 3.(d)design a reduced-order compensator. such that the! n= 1 rad/sec and? = 0: 5.