Consider the block diagram of a system which is controlled by a PI controller. The system experiences a disturbance input as well. R () (a) For K=1, determine the steady-state error for a unit step...

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Extracted text: Consider the block diagram of a system which is controlled by a PI controller. The system experiences a disturbance input as well. R () (a) For K=1, determine the steady-state error for a unit step changes in rt) and Tft), respectively.