A process is designed to follow a desired path described by

r(t) = (5 +0.5t)u(t) where r(t) is the desired response and u(t) is a unit step function. Consider the unity feedback system in Figure 4.32. Compute the steady-state error (E(s) = R(s) - Y(s) with Ta(s) = 0) when the loop transfer function is a. elim e(t) b. ess == c. es d. ess = 100 lime(t) = 1 100 lime(t) = 0.5 lime(t) = 0 L(s) = Ge(s)G(s) = 10(s + 1) s(s+5)