The set-point of the control system under proportional control (K_c= 5) undergoes a step change of magnitude 2. For 

(a) Determine when the maximum value of y occurs.
(b) Determine the offset.
(c) Determine the period of oscillation.
(d) Sketch y(t) as a function of time, showing key character is tics as determined in (a), (b), and (c).

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G,G, 2 and G„ = 1, (s + 1)(2s + 1)