In the diagram for Problem 4.1, a PID controller is used in a unit feedback system such that Kr D(s) = Kp +- + KDs s

1 G(s) = Js2 r(t) = 1 w(t) = 1.

(a) What is the effect of the P ID on the stability of this specific systern?

(b) Find the steady state errors , e~8 for the system.

(c) What are the system types with respect to the reference and disturbance, respectively?
Problem