AP9.10 A multiloop block diagram is shown in Figure AP9.10.

(a) Compute the transfer function T s( ) = Y s( ) R s( ). 

(b) Determine K such that the steady-state tracking error to a unit step input R s( ) = 1 s is zero. Plot the unit step response.

(c) Using K from part (b), compute the system band

width ωb.

FIGURE AP9.10 Multiloop feedback control system. Y(s) R(s) (s+2) S