Closed-Loop Transfer Functions R≠0L=0 R=0L≠0 Set point change, load is constant oad change, constant set point C(s) KmGG Gp R(s 1+GCGYGPGM L(S) 1+GCGGPGClosed-Loop Transfer Functions R  0 L  0 ( ) ( ) 1 M C V P C V P M C s K G G G R s G G G G   Set point change, load is constant Load change, constant set point R  0 L  0 ( ) ( ) 1 L C V P M C s G L s G G G G  