1 8.4 A system is described by the transfer functions 5 G(s) H(s) = 1 s(1 + s) Determine the velocity error coefficient due to a ramp input of slope 4, and calculate the corresponding steady-state error. Determine the steady-state error for the same in- put but when H(s) takes the following forms: H(s) = 4 %3D a. b. H(s) = s . H(s) 1 + s + 1 s+ 2 d. H(s) 2 8.7 Consider the unity-feedback control system shown in Fig. P8.7. Select the simplest values of the coefficients a, b, and c that will allow the closed-loop system to meet the following performance specifications: a. Zero steady-state error for a step input. b. A steady-state error of no more than 5% due to a ramp input. c. No more than 10% overshoot due to a step input. R bs s(s + 1) Fig. P8.7