8.4 A system is described by the transfer functions 5 G(s) H(s) 1 s(1 s) Determine the velocity error coefficient due to a ramp input of slope 4, and calculate the corresponding steady-state error. Determine the steady-state error for the same in- put but when H(s) takes the following forms: a. b. H(s) = 4 H(s) = S 1 C. d. H(s) H(s) - - 1 + s s+1 s + 2