What system type can track a ramp input with zero steady state error?

A three way intersection is in need of a traffic signal control system and you have been assigned thetask to design and implement the system. Each direction has only one lane and one set of signalcontrol lights (green, yellow and red). Your design should only allow one go or green light at atime. Further, all transitions from green to red should go through an intermediate 2-4 secondsyellow light. Complete the following steps for this design:   ) Sketch of the intersection with variables identified and respective values defined

i.A closed-loop control system is created using a proportional controller. Show that such a system has a steady state error of 1/(1+Kp) and therefore the steady state error condition can be achieved with a proportional gain of 9 or more.