E4.11 Consider the closed-loop system in Figure E4.11. where G(s) K 3+10 14 and H(s) = 3 + 5$ 16 T(s) + + + R(s) G(s) Y(s) H(s) FIGURE E4.11 Closed-loop system with nonunity feedback. - (a) Compute the transfer function T(s) = Y(s)/R(s). (b) Define the tracking error to be E(s) = R(s) Y(s). Compute E(s) and determine the steady-state tracking error due to a unit step input, that is, let R(s) = 1/s. (c) Compute the transfer function Y(s)/Td(s) and determine the steady-state error of the output due to a unit step disturbance input, that is, let Ta(s) = 1/s. (d) Compute the sensitivity S.