In the following analysis, the tracking error is defined to be E$($s$)=$ R$($s$)-$ Y$($s$)$:

$($a$)$ Compute the transfer function T$($s$)=$ Y$($s$)/$R$($s$)$ and determine the steady$-$state error due to a unit

step response, that is$,$ let R$($s$)=1/$s and assume that N$($s$)=$ T d$($s$)=0.$

$($b$)$ Compute the transfer function Y$($s$)/$N$($s$)$ and determine the steady$-$state tracking error due to a unit

step measurement noise response, that is$,$ let N$($s$)=1/$s and assume that R$($s$)=0.$ Remember, in

this case, the desired output is zero.