Work all problems.

A system that controls the mean arterial pressure during anesthesia has been designed and tested. The level of arterial pressure is postulated to be a proxy for depth of anesthesia during surgery. A block diagram of the system is shown below, where the impact of surgery is presented by the disturbance $T_d(s).$

a$)$ Determine the steady$-$state error due to a disturbance $T_d(s)$