QUESTION $3[5$ marks$)$:

a$)$ A unity feedback sysiem has the following forward uransfer finction:

$G(s)=\frac{K(s+0\mathrm{.}5)}{s(s+4)(s+5)}$

i$.$ What input $($siep$,$ ramp or parabolic$)$ would result in a finite steady stance error?

ii$.$ Find the value ofK to yield a $10\%$ error in the steady state.