1. The problem statement, all variables and given/known data Find the steady-state error due to a disturbance Td(s) = 1/s. Set R(s) = 0. if given a system: 2. Relevant equations n/a 3. The attempt at a solution I need Y(s)/Td(s). To do this I must find Y(s) in terms of the transfer function Y(s)/R(s) which I have obtained. This gives me an expression for Y(s) in terms of G(s), Gc(s), and R(s). Now I must solve for Y(s)/Td(s). If Td(s) = 1/s, then I should just multiply Y(s) by s and be done with it. However, the book gets a totally different answer. specifically, I am not sure how R(s) disappears along with the rest of the numerator in the result. Thanks for your time.