A robotic arm and camera could be used to pick fruit from a tree. The camera is used to close the feedback loop to a microcomputer, which controls the arm. The transfer function for this process is
G(s) = K / (s + 4)^2
(a) Calculate the expected steady-state error of the gripper for a step command Au (t) as a function of K.
(b) Name a possible disturbance signal for this system.