Shinskey (1996, p. 279) has stated that in tuning a feedforward controller consisting of the lead?lag unit in Eq. 15-29, the integral of the error signal ?^?_0?e(t) dt is zero when the difference between the lead and lag parameters, T₁ ? T₂ , is correct. Verify this assertion for the process model of Example 15.2 and a unit step change in the disturbance variable. Assume that the set point is Y_sp = 0 and G_t = G_v = 1.

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U(s) - K(TIs + 1) Gr(s) = T25 + 1 D(s)