Consider the control system shown in Fig. 7.5 . Determine the total steady-state error resulted from the input of \(R(s)\), which is a unit ramp function, and the disturbance of \(D(s)\), which is a step function with the amplitude of \(d\).

1) \(\frac{d+k k_{h}}{k}-\frac{B}{k}\)
2) \(\frac{B+k k_{h}}{k_{h}}-\frac{d}{k_{h}}\)
3) \(\frac{B}{k}-\frac{d}{k}\)
4) \(\frac{B+k k_{h}}{k}-\frac{d}{k}\)

Figure 7.5

E(s) R(s) k D(s) ka Js+B C(s)