A parabolic ramp is signal r(t) = 3t2 . Consider system L(s) = KL (s) where L (s) # 0. Assume that the negative unitary feedback interconnection of L(s) is BIBO stable. For which values of n, does the asymptotic tracking error e(t) r(t) y(t) converge to a finite value when 3 0 and what is such finite value?
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