For the system in Fig. 5.63,
(a) Find the locus of closed-loop roots with respect to K.
(b) Find the maximum value of K for which the system is stable. Assume K = 2 for the remaining parts of this problem.
(c) What is the steady-state error (e = r - y) for a step change in r?
(d) What is the steady-state error in y for a constant disturbance w1?
(e) What is the steady-state error in y for a constant disturbance w2? (f) If you wished to have more damping, what changes would you make to the system?
