Question: Suppose the plant shown in Figure 10.6.1 has the parameter values I = 2 and c = 3. Find the smallest value of the gain

Suppose the plant shown in Figure 10.6.1 has the parameter values I = 2 and c = 3. Find the smallest value of the gain Kp required so that the steady-state offset error will be no greater than 0.2 if ωr is a unit-step input. Evaluate the resulting time constant and steady-state response due to the disturbance if Td is also a unit step.

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