In the diagram for Problem 4.1, a PID controller is used in a unit feedback system such that

(a) What is the effect of the PID on the stability of this specific system?

(b) Find the steady-state errors \(e_{s s}^{r}, e_{s s}^{w}\) for the system.

(c) What are the system types with respect to the reference and disturbance, respectively?

Data from Problem 4.1

Consider the unity feedback control system depicted in Figure 4.96.

K D(s)=Kp++KDS G(s) = 1 Js r(t)=1 w(t) = 1. S