Consider the first example in Simulink active session:

Plot the responses of controller system for unit step changes in disturbance this time. Open the Simulink file you created before $($or recreate it with the transfer functions given below$))$ and change the "Step" Blocks in Simulink for disturbance change. This time set point change is zero, thus change the line in the script as follows:

$12=1$ine$([0,N],[0,0])$;

The open loop $($approximation as a FOPDT$)$ and load transfer functions are given below.

$G_p=\frac{2e^{-0\mathrm{.}3s}}{(5s+1)}$;$G_D=\frac{0\mathrm{.}25e^{-0\mathrm{.}1s}}{(5s+1)}$;$G_m=\frac{3e^{-0\mathrm{.}5s}}{(2s+1)}$;$G_v=\frac{1}{(2s+1)}$

a$.$ Discuss the effects of $K_c$ values and addition of integral action on the offset and responses.

b$.$ Write servo and regulatory problems.

c$.$ Calculate the offset for unit step changes in disturbance using $K_c=0\mathrm{.}1$ and compare with the simulation.