Block diagram of a regulator control system is shown in Fig. 1. ! T R(S)+ E(S) i. ii. K 111. GZOH Fig. I 1 Js In terms of K, J and T, determine the System type. Position error constant, Kp, velocity error constant, Ky, and acceleration error constant, Ka Steady state error, ess with respect to unit step, unit ramp and unit parabolic inputs for the system. 0(s)