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Problem 4.23PP
(a) Find the transfer function from the reference input to the tracking error.
Consider the system shown in Fig.
(b) For this system to respond to inputs of the form r(t) = fn1 {t) (Where n «)
Step-by-step solution
step 1 of 2
Y ( 0 _ G
R (s) 1+G 
fE (s )= R (s)-Y (s)
, E ( s ) _ n (^ ‘)
step 2 of 2
S.S.E.=limsEfs)t-»o ' ''
n ( '+ P i ) „ i
sn(s+pi)
»i_______And Hm-------------------- is required to be equal to zero.
For this condition to be True, at least (n + 1) zeros out o f *q’ should present at the 
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