Consider the feedback system in Figure CP4.4. Suppose that the controller is
Gc(s) = K = 10.
Figure CP4.4
Unity feedback system with controller gain K.

(a) Develop an m-file to compute the closed-loop transfer function T(s) = Y(s)/R(s) and plot the unit step response.
(b) In the same m-file, compute the transfer function from the disturbance Td(s) to the output Y(s) and plot the unit step disturbance response.
(c) From the plots in (a) and (b) above, estimate the steady-state tracking error to the unit step input and the steady-state tracking error to the unit step disturbance input.
(d) From the plots in (a) and (b) above, estimate the maximum tracking error to the unit step input and the maximum tracking error to the unit step disturbance input. At approximately what times do the maximum errors occur?

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