E5.14 A feedback system is shown in Figure E5.14.

(a) Determine the steady-state error for a unit step when K = 0.6 and Gp1s2 = 1.

(b) Select an appropriate value for Gp1s2 so that the steady-state error is equal to zero for the unit step input.

K R(s) G(s) Y(s) s(s+5) s+1 (s+0.5) FIGURE E5.14 Feedback system.