The steady state error for a unity feedback system for the input r(t) = Rt^2/2 to the system G(s) = K(s+2)/s(s^3+7s^2+12s) is

The steady state error for a unity feedback system for the input r(t) = Rt^2/2 to the system G(s) = K(s+2)/s(s^3+7s^2+12s) is

(a) 0

(b) 6R/K

(c) ∞

(d) 3R/K

The question was posed to me in quiz.

Enquiry is from Steady-state Errors and Error Constants in section Time Response Analysis, Design Specifications and Performance Indices of Control Systems

The steady state error for a unity feedback system for the input r(t) = Rt^2/2 to the system G(s) = K(s+2)/s(s^3+7s^2+12s) is

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