The analog exponential filter in Eq. 17-4 is used to fitter a measurement before it is seat to a proportional controller with K_c = 1. The other transfer functions for the closed-loop system are G_v = G_m = 1, and G_p?=_?G_d = 1/(5s + 1). Compare the closed-loop responses to a sinusoidal disturbance, d(t) = sin t, for no filtering (?_F ? 0), and for an exponential filter (?_F = 3min).

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dyr (1) TE dt + yF () = ym()