Figure P7.2 shows the ramp input r(t) and the output c(t) of a system. Assuming the outputs

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Figure P7.2 shows the ramp input r(t) and the output c(t) of a system. Assuming the output’s steady state can be approximated by a ramp, find

a. The steady-state error;

b. The steady-state error if the input becomes r(t) = tu(t).

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