Fall 2001 16.311728 Figure 14: Example #2: G(s=22L0007 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 meth 1 0.5 15 3.5 4.5Fall 2001 16.31 17–28 Figure 14: Example #2: G(s) = 0.94 s2−0.0297. • 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 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 Step Response meth1 meth2 meth3