A controller P(s) and plant C(s) are connected as follows: If we want...

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A controller P(s) and plant C(s) are connected as follows:

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If we want the closed-loop system to track a ramp of slope 2 with error at most 0.1, what constraint must the velocity constant K_v = \lim_{s\rightarrow0} sP(s)C(s) satisfy?

K_v \geq 0.05

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K_v \leq 20

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K_v \geq 20

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K_v \leq 0.05

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