Consider the closed-loop system is depicted in Figure CP4.10. The controller gain K can be modified to meet the design specifications.
(a) Determine the closed-loop transfer function T(s) = Y(s)/R(s).
(b) Plot the response of the closed-loop system for K = 5, 10, and 50.
(c) When the controller gain is K = 10, determine the steady-state value of y(t) when the disturbance is a unit step, that is, when Td(s) = 1/s and R(s) = 0.
Figure CP4.10
Closed-loop feedback system with external disturbances.

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