Control System how to get rid of Steady-State Error For Ramp Input

I am supposed to get rid of the steady-state error for ramp input for this closed loop transfer function

Transfer Function of Closed Loop ^ T(s)

Closed Loop ^

Since the closed loop is equivilant to the Open Loop below

Open Loop ^

I found out that the G(s) is ^

From as far as i know to get rid of transfer function i have to turn G(s) to a type 2 system(by adding another pole at the origin) since there is no steady-state error for ramp input for type two system so I tried the method (1) below method 1 ^

But using MatLab I am unable to get the result that I desired which is zero steady-state error for a ramp input (not sure if code error or what)

    num=[198025];
den=[1 445 0 198025];
t=0:0.005:10;
r=t;
y=lsim(num,den,r,t);plot(t,r,'-',t,y)

Matlab script ^

But the result I got is something like this

Matlab Result ^

Instead of something like this (note ** that is just some example I found online on how a type two system should be with ramp input)

Expecting Pattern ^

I found out there are positive poles but i am not quite sure what to replace the 1/s with to ensure that there isnt any positive poles while removing the steady-state error for ramp input as well

and also is there a way to get rid of the steady-state error for ramp input by cascading another function at the end or the back of the Transfer function( Method 2 ) without altering the original circuit (the original closed loop transfer function)?

something like this ^ (which is the way I am supposed to do)

Any help would be wonderful Thx.