Question: Modify the diagram shown in Figure to include feed forward command compensation with a constant compensator gain Kf. Determine whether such compensation can eliminate steady-state

Modify the diagram shown in Figure to include feed forward command compensation with a constant compensator gain Kf. Determine whether such compensation can eliminate steady-state error for step and ramp commands.

D(s) R(s) + E(s) C(s) s + c

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