T Controller E(s) Plant 1 YU) Ris) K (+10) NO) 1. For the above system (assume that system is linear) the main input R(s), the disturbance Ta(s) and the noise N(s) are all unit step functions. a. Obtain Y(s)/R(s), Y(s)/Td(s) and Y(s)/N(s) b. Obtain the steady state error caused by a unit step input of Ta(s)