Consider the block diagram in Figure CP2.10.

Create an m-file to complete the following tasks:

(a) Compute the step response of the closed-loop system (that is, R(s) = 1/s and Td (s) = 0) and plot the steady-state value of the output Y(s) as a function of the controller gain 0

(b) Compute the disturbance step response of the closed-loop system (i.e., R(s) = 0 and Td (s) = 1/s) and co-plot the steady-state value of the output Y(s) as a function of the controller gain 0

(a) above.

(c) Determine the value of K such that the steadystate value of the output is equal for both the input response and the disturbance response.

Controller Ta(s) Plant FIGURE CP2.10 Block diagram of a unity feedback Ea(s) R(s) K system with a reference input R(s) and a disturbance input Td(s). 1 Y(s) s+20s+20