Instead of all the bullshit threads about aliens, corona and 'what is the best engineering degree', I have a genuine question.

I am trying to build a kind of gain scheduling controller for a non-linear series elastic actuator (what that is doesn't really matter, as essentially the controller is implementing position control).
See pic related for the overall structure.

Now for the 'controller' block, in the s-domain it is essentially N1 + N2*s. I defined the input to this block as u(s), output y(s).