Consider the closed-loop system in Figure E4.11, where

G(s) = K / s + 10 and H(s) = 14 / s2 + 5s + 6
(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) = l/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 Td(s) = l/s.
(d) Compute the sensitivity STK.

14 H(s)-(+5s K G(s) and - 6 TAs) H(s) Closed-loop system with nonunity FIGURE E4.11 feedback,