ONLY PROVIDE THE MATLAB CODE, PLEASE SHOW ALL MATLAB CODE AND CODE OUTPUT: P$4\mathrm{.}4$ Consider the feedback system in Figure CP$4\mathrm{.}4.$

Suppose that the controller is

$K=10.$

$($a$)$ Develop an $m-$file to compute the closed$-$loop

transfer function $T(s)=Y\frac{s}{R}(s)$ and plot the

unit step response. $($b$)$ In the same $m-$file, compute

the transfer function from the disturbance $T_d(s)$ to

the output $Y(s)$ and plot the unit step disturbance

response. $($c$)$ From the plots in $($a$)$ and $($b$)$ above, es$-$

timate the steady$-$state tracking error to the unit step

input and the steady$-$state tracking error to the unit

step disturbance input. $($d$)$ From the plots in $($a$)$ and

$($b$)$ above, estimate the maximum tracking error to the

unit step input and the maximum tracking error to the

unit step disturbance input. At approximately what

times do the maximum errors occur?

FIGURE CP$4.$A

Unity feedback

system with

controller gain $K$