(a) (8 points) Which transfer functions below have perfect steady-state tracking in closed-loop for a step input? Which for a ramp? All systems are stable. 40 20 0 -20 -40 10-2 10-1 -G -G 10 Frequency (Hz) 10 102 (b) (8 points) Which transfer functions have complex poles? Which have complex zeros? 40 20 Gain (dB) 0 -20 -40 -60 -80 -100 G G G4 120 10-2 10-1 100 Frequency (Hz) 101 102 (c) (4 points) Rank the systems in terms of how quickly they reach their steady-state values. Gain (dB) -12 -15 102 G4 101 10 Frequency (Hz) 10' (d) (4 points) Rank the systems in terms of their susceptibility to high-frequency noise > 10 Hz. Gain (dB) 0 -20 -40 -60 G -80 G4 10-2 10 10 10 Frequency (Hz) 102