A compensated motor position control system is shown in Fig. $3.$ Assume the sensor dynamics are $H(s)=\frac{20}{s+20}.$

$($a$).$ Can the system track a step reference input $r$ with zero steady$-$state error? If yes, give the steady$-$state value of a unit ramp reference input.

$($b$).$ Can the system reject a step disturbance $w$ with zero steady$-$state error? If yes, give the steady$-$state value of a unit ramp disturbance input.