5. Consider the closed-loop system represented in the state space as follows: X = AX + Br www. y = CX (a) Define the steady state solution, Xss for Xis, Xss = [V V ... VF Giving a unit step function r= 1 as the input, please derive the steady state erro es=1+CA B. (10%) (b) Define the steady state solution, X., for X is, Xs = [Vt+W Vt+W Vt+W] Giving a ramp step function r = t_ as the input, please derive the steady state error: ess-lom [(1+ CAB)t + CA'A' B] =