Determine values of K_1 and K_2 that will allow the system shown below to meet the following
specifications: steady-state error due to a unit step disturbance should be -0.0012, and steady-
state error due to a unit ramp input should be 0.03. For the system shown below, find the steady-
state error in response to a unit step input (note that it is not a unity feedback system). Consider
a function F(s) = s + 5/s(s + 3. For each of the following three values of s, calculate the
magnitude and angle of F(s) by
Solution
E(s) = R(s) - C(s)*H(s)
C(s) = R(s) - E(s) / H(s)
Also C(s) = G(s) * E(s)
so E(s) = R(s) / 1+G(s)*H(s)
Ess = lim s->0 s*E(s)
Ess = lims->0 1/ 1 + {10(s+4)(s+10)/s(s+2)}
so Ess = 0