P5.6 A robot is programmed to have a tool or welding torch follow a prescribed path [7, 11]. Consider a robot tool that is to follow a sawtooth path, as shown in Figure P5.6(a). The loop transfer function of the plant is for the closed-loop system shown in Figure P5.6(b).

Calculate the steady-state error.

= L(s) G(s)G(s) = 20(s+2) s(s+1)(s+4)