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+ // g i v e n G(s)H(s) =K/ s (s+20) H(s)=1 R(s)=1/s^2
+G =1+400/(s*(s+20));
+h=1/G;
+r=1/s^2;
+e= 0.05;
+disp (e," Steady state error=")
+//if ess=0.02 then k=?
+k=20/0.02;
+disp(k,"K=");