For the system in Figure $3$:

a$)$ Find the transfer function of the system with no disturbance

b$)$ If the inpur 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.