A second order process system with the following transfer function

Q.4

Gp =

5 (5+4) is being controlled by a proportional controller in a unity negative feedback system. Where Gc-Kc. Gy=1,

H=1 i.

Find the offset of the system for the servo mechanism

(U=O), where set point change of 2t.

ii.

Also find the change in value of controller gain, if it is desired to reduce the existing error by 5%.