Daniel Baker

Great Job - very detailed! I just want to mention something that seems a bit confusing. You state that the steady state error is zero in response to a unit step input, but the output is 0.35 rather than 1. The open loop transfer function is a type zero, which would not be able to render a zero steady state error in response to a step input. I was able to calculate a steady state error of 0.65, which leads to the output of 0.35. I'm certainly not an expert, and might be analyzing this incorrectly, but wanted to make note of it since the paper seems so complete otherwise.