In the open-loop process shown in the figure, the input $U(s)$, the transfer function $G_{p}(s)$ and the output $Y(s)$ are given in the Laplace domain in terms of the Laplace variable $s$. For this process, which of the following is true?
(where $M, \tau_{p}, K_{P}$, are the magnitude of the input, the characteristic time and the gain for the process, respectively)
- $y(t)=K_{p}\left(1-e^{-t / \tau_{p}}\right)$
- $y(t)=M K_{p}\left(1-e^{-t / \tau_{p}}\right)$
- $y(t)=K_{p}\left(M-e^{-t / \tau_{p}}\right)$
- $y(t)=K_{p}\left(1-M e^{-t / \tau_{p}}\right)$
