42. As part of the development of atextile cross-lapper machine (Kuo,2010), a torque input, u(t)=\left\{\begin{array}{rc} 1 & 0 \leq t<50 \\ -1 & 50 \leq t<100 \end{array}\right\}, \text { is

} applied to the motor of one of the movable racks embedded in a feedback loop. The corresponding velocity output response is shown in Figure P7.21. a. What is the open-loop system'stype? b. What is the steady-state error? c. What would be the steady-state error for a ramp input?

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