Problem 2 For the closed-loop system shown below, where D(s) R(s) E(s) C(s) Ge(8) Gp(s) K Ge(s) = Kp + S Gp(s): = 1 Js + k Kp and K, are control gains and positive numbers. J and k are system properties and positive as well. a (3) Obtain the closed-loop transfer function G(s) = C(s) R(s) where there is no disturbance (D(s) = 0). E(s) b (2) Obtain the error transfer function in response to disturbance G(s) reference input is off (R(s) = 0). = where the D(s) c (1) Obtain the steady-state error, e... = e(t ) in response to the step input R(s) = R1(t) and absence of disturbance (D(s) = 0).