Reconsider Example 10.7. Using the final-value theorem, verify the steady-state errors to a unit-step input for open and closed-loop control without- and with disturbance.

Data From Example 10.7:

Consider a plant whose transfer function is
\[G(s)=\frac{4}{s+10}\]

a. Build a Simulink block diagram associated with Figure 10.18 to simulate openloop control with disturbance input. Assume that the controller is \(K=2.5\), the disturbance is a constant of -1 , and the reference is a unit-step function with the step time at \(t=0 \mathrm{~s}\). Compare the steady-state values of the responses without and with the disturbance.

b. Build a Simulink block diagram associated with Figure 10.19 to simulate closed-loop control with disturbance input. Assume that the controller is \(K=50\). The disturbance and the reference are the same as those in Part (a). Compare the steady-state values of the responses without and with the disturbance.

D(s) U(s)+ Y(s) R(s) K G(s) FIGURE 10.18 Open-loop control with disturbance input.