The closed loop transfer function of a position control system is given by

\[
\frac{\mathrm{C}(s)}{\mathrm{R}(s)}=\mathrm{T}(s)=\frac{k(s+z)(s+4)}{(s+p)\left(s^{2}+6 s+25ight)}
\]

where \(k, p\) and \(z\) are adjustable. Is it possible to select them so that system exhibits zero steady state error for step, ramp and parabolic inputs ? If possible find steady state error for input \(r(t)=t^{3} / 6\).