Fall 2001 16.311729 Figure 15: Example #3: G(s) 81420 8)(S-14)(s-20) Method #l: previous implementation Method #2: previous, with the reference input scaled to ensure that the dC gain of y/rlpc=1 Method #3: new implementation with bothG= BN and N selected Step Response meth1 meth2 0.2 0.50.6 0.8Fall 2001 16.31 17–29 Figure 15: Example #3: G(s) = 8·14·20 (s−8)(s−14)(s−20). • Method #1: previous implementation. • Method #2: previous, with the reference input scaled to ensure that the DC gain of y/r|DC = 1. • Method #3: new implementation with both G = BN¯ and N¯ selected. 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 −3 −2 −1 0 1 2 3 4 Step Response meth1 meth2 meth3