Represent this block diagram as an equation in the Laplace domain. The equation should be arranged so that a dependent variable is expressed as the sum of independent variables, each of these multiplied by some transfer function. (Note in the diagram that y is subtracted from xsp.) If you could choose Gf to be anything you wanted, how could you use it to improve the response of y to the disturbance xd?
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Laplace transforms and block diagrams are investigated. The solution is detailed and well presented. The response received a rating of "5/5" from the student who originally posted the question.