P11.28 Consider the single-input, single-output system is described by

a. Determine the value of K resulting in a zero steady-state tracking error when u t( ) is a unit step input for t ≥ 0. The tracking error is defined here as e t( ) = − u t( ) y t( ).

b. Plot the response to a unit step input and ver

ify that the tracking error is zero for the gain K 

determined in part (a).

where A = -| - x(t) = Ax(t)+ Bu(t) y(t) = Cx(t) 0 1 -16-8 B = C=[10]. K