A control engineer, N. Minorsky, designed an innovative ship steering system in the 1930s for the U.S.

Navy. The system is represented by the block diagram shown in Figure E2.8, where Y(s) is the ship’s course, R(s) is the desired course, and A(s) is the rudder angle [16]. Find the transfer function Y(s)/R(s).

H(s) A(s) 1 R(s) K G(s) G(5) Y(s) FIGURE E2.8 Ship steering system. H3(s) H(s)