Consider the system shown in the following figure.
1
The type of the system is 1
2
For a step input r(t) = u(t), the system gives zero error
3
For a ramp input r(t) = 5t u(t), the steady state error is 0.01
4
For a parabolic input, r(t) = 10t2 u(t), the steady state error is infinite.