2. For the system shown below state the system type, and find the steady state error for an input of 50u(t), 50tu(t), 50tu(t), R(s) + 5 C(s) s(s+ 1)(s+2) (s+3) (Hint: Close the inner-loop first to get the standard unity feedback system with loop transfer 5 function L(s): = s3+3s+7s+15