For the system in Figure $3$:

A$)$ Fiind the transfer function of the system with no disturbance $($D$($s$)=0).$

B$)$ If the input is a step function, r$($t$)=5$u$($t$),$ find the steady$-$state output, Yss $,$assuming there is no disturbance.

C$)$ Now assume a ramp disturbance is applied,

d$($t$)=2$t$,$ and that r$($t$)=0.$ Find the steady$-$state output generated by this disturbance.