Design position feedback controller for the below PMSM drive (Motor 4) in dq domain using Matlab/Simulink (z-domain). First, d- and q-axis current control (PI controller gains) and then the speed control (PI controller gains) and finally the position control (P or PI controller) should be designed using Matlab function in which motor parameters should be defined. All system including motor and excluding the control parts will be implemented in s-domain (control sections will be implemented in z-domain) using SIMULINK. Use Matlab/SIMULINK PMSM model. The switching is required (use sinewave PWM with the Simulink universal inverter bridge with MOSFETs). Implement ramp position reference from 0 to the desired position in a reasonable time (for example 0.5 s) and keep it constant at that value with a reasonable constant load torque (TL). Also, include current, speed, and position open-loop and closed-loop Bode plots (GM and PM).