Open the software "Matlab". Type "simulink" in the command window. Consider the control system shown in Figure 1. In this system the proportional controller delivers torque T to position the load element, which consists of moment of inertia (J) and viscous friction (b). The torque disturbance to the system is denoted by N. Determine the steady-state error due to a step disturbance torque of magnitude Tn when the reference input R(s) = 0. R E Case 1: Case 2: T N + 1 s(Js + b) Figure 1 Obtain step responses curves for the following cases when the reference input R(s) = 0 and the disturbance N(s) = 1/s. Comment on your results. J = 1, b = 0.5, K = 1 J = 1, b = 0.5, Kp = Design a controller that can eliminate the steady state error of the system.