1. Given the input/disturbance system shown below: D(s) R(s) G(s) *** C(s) P(s) Figure 1 7 Let G(s) = 5 and P(s) = s+2 Hint: You'll find Section 7.5 of the

textbook very useful for completing this problem. a) Calculate the steady-state error by hand for a command input R(s) = ³ with D(s) = 0. b) Verify the result of Part a) using a Simulink model of the system in Figure 1 (include a printout of the scope's output). c) Calculate the steady-state error by hand due to a disturbance input D(s) = with R(s) = 0. d) Verify the result of Part c) using a Simulink model of the system in Figure 1 (include a printout of the scope's output). e) Calculate the total steady-state error by hand due to a command input R(s) == and a disturbance D(s) = -applied simultaneously. f) Verify the result of Part e) using a Simulink model of the system in Figure 1 (include a printout of the scope's output).