Problem 4 Consider a unity (negative) feedback system whose open-loop transfer function is given by K(s+1)(s+2) G(s): s(s +10) Assume K = 1. (a) What is the type of the system? (b) Find static position error constant Kp, static velocity error constant Ky and static acceleration error constant Ka (c) Find the steady state-error of the system for following each of the following inputs. (i) (!!) t3 1(t) (t+2) 1(t) (d) Find the range of K, for which steady-state error of the system for ramp input will be less than 0.05?

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