Reconsider the unity feedback system discussed in E4.14. This time select K = 120 and K1 = 10. The closed-loop system is depicted in Figure E4.15.
(a) Calculate the steady-state error of the closed-loop system due to a unit step input, R(s) = l/s, with Td(s) = 0. Recall that the tracking error is defined as E(s) = R(s) - Y(s).
(b) Calculate the steady-state response,

when Td(s) = l/s and R(s) = 0.
Figure E4.14
Closed-loop feedback system with two parameters, K and K1.

Figure E4.15
Closed-loop feedback system with K = 120 and K1 = 10.

TMsy Process Controller ststKi) Ris) Process Controller Yis) R(s) ss+10)