Ex. 316. Determine the closed-loop steady-state error given a R(s) + E(s) ->0----->| G(s) |---+---> (a) unit step input, (b) unit ramp input, and (c) unit parabola input. G(s)=16/(s+15) Also determine the (d) position constant, (e) velocity constant, and (f) acceleration C(s) constant. If any value is infinite, enter 8. ans:6

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