Closed-loop control system with disturbance D RKC RE ○G1○1G H=1 H GG C R+-2D=C Desired +△C 1+gg 1+G,g Closed △C Closed △C 1+G,G Closed loop Open loop sired 1+GG2 →Kc·C+m=C• Closed-loop control system with disturbance D: R KC D C G1 G2 H E * R Closed COpen G G C  +  = 1 1 2 1 D C Desired CClosed G G G R G G G G C = +  + + + = * 1 2 * 2 1 2 1 2 1 1 C D Closed loop Open loop 1 2 * * 1 G G C C Desired + = * * KC C Desired = C H=1