a) Find the system type b) Find the corresponding static error constant (Kp, Kv or Ka) c) Find the steady-state error for an input signal r(t) = 5 u(t) d) Find the steady-state error for an input signal r(t) = 5 tu(t) e) Find the steady-state error for an input signal r(t) = 5 t² u(t) f) (3 bonus points) Check for the stability of the system and indicate if the results on the steady- state computations are valid or not, and explain. To check for stability find the poles of the closed-loop system. c(t) 1 10 100 1+0.1 s 1 + 10s

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