* Attempt all questions Q1 (35 points)/Consider the system shown in Fig. 1 below. (a) In Fig. 1(a), what is the system type? Compute the steady-state tracking error due to a ramp input r(t) = rot 1(t). (b) For the modeled system with a feed forward path shown in Fig. 1(b), give the value of Hy so the system is Type 2 for reference inputs and compute the Ka in this case. Hint: assume H, = 1, AH₁ = 1. SH R A Y R Hy S(TS+1 (a) A S(TS+1) (b) Figure 1.