Check Figure 1.10 (cruise control disturbance rejection) to make sure it is consistent with Figure 4.3 [intro, examples]

From Karl: I modified the subsection Robustness to Uncertainty in 1.5 to include improved Performance to disturbances by a minor modification of text and Figure 1.10. We should double check the simulation because I simply hacked your program, the signal that called amp should be based on physics and matched to Fig 4.3.