Test signals r(t) R(S) urpose Impulse r(t)=A(t),t≥0 stability test 0, <0 Step r()=A,t≥0 transient =0,t<0 response test Ramp (t)=A,t≥0 tracking 0,t<0 capability test Parabolic r()=Ar2,t≥0 fast tracking 0.t<0 capability test ∠UL∠-2-5 42022-2-3 4 Test signals r(t) R(s) Purpose Impulse stability test Step transient response test Ramp tracking capability test Parabolic fast tracking capability test    , 0 0, 0 r t A t t t      A   , 0 0, 0 r t A t t     A s   , 0 0, 0 r t At t t     2 A s   2 , 0 0, 0 r t At t t     3 2 A s