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

R(s) + G(s) Ta(s) Y(s) H(s) FIGURE E4.11 Closed-loop system with nonunity feedback. (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) = 1/s. (c) Compute the transfer function Y(s)/Ta(s) and determine the steady-state error of the output due to a unit step disturbance input, that is, let Td(s) = 1/s. (d) Compute the sensitivity Sk.