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CP4.10 Consider the closed-loop system is depicted in Figure CP4.10. The controller gain K can be modified to meet the design specifications. (a) Determine the closed-loop transfer function T(s)=Y(s)/R(s). (b) Plot the response of the closed-loop system for K=5,10, and 50 . (c) When the controller gain is K=10, determine the steady-state value of y(t) when the disturbance is a unit step. that is, when Td(s)=1/s and R(s)=0. Terms and Concepts 303 FIGURE CP4. 10 Closed-loop teedback system with external disturbances. CP4.10 Consider the closed-loop system is depicted in Figure CP4.10. The controller gain K can be modified to meet the design specifications. (a) Determine the closed-loop transfer function T(s)=Y(s)/R(s). (b) Plot the response of the closed-loop system for K=5,10, and 50 . (c) When the controller gain is K=10, determine the steady-state value of y(t) when the disturbance is a unit step. that is, when Td(s)=1/s and R(s)=0. Terms and Concepts 303 FIGURE CP4. 10 Closed-loop teedback system with external disturbances