[jcliles2]

A process with Gp= 2/(2s+1) and Gd=1/(2s+1) experiences a disturbance step change of magnitude 5. The SP remains constant. If a P-controller alone with Kc=1 is used and Ga=Gs=1, then what is the output variable, delta Y(t) versus time?

Delta Y(s) = Gd/(Gp*Ga**Gc*Gs + 1) * 5/s