life is not all sunshine and rainbows u get knocked down alot times u need to kn

ow how to stand up and fight The problem is equivalent to finding an appropriate

control law D(s) such that the resulting
error function e(t) goes to zero as quick and as smooth as possible, which is th
e same as
saying that the output y(t) is tracking the given reference r(t) as quick and as
smooth as
possible. In our class, we will mainly focus on the cases when r(t) is either a
step function
or a ramp function