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Chapter 7
Outline
■ Introduction
■ Sources of Steady-State Error
■ Steady-State Error for Unity Feedback Systems
■ Static Error Constants and System Type
■ Steady-State Error for Non-unity Feedback Systems
■ Sensitivity
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Introduction
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Sources of Steady-State
Error
■ Many steady-state errors in control systems arise
from nonlinear sources, such as backlash in gears
or a motor that will not move unless the input
voltage exceeds a threshold.
■ Nonlinear behavior as a source of steady-state
errors, although a viable topic for study is beyond
the scope of a text on linear control systems.
■ The steady-state errors we study here are errors
that arise from the configuration of the system
itself and the type of applied input.
4
Steady-State Error for Unity
Feedback Systems
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Static Error Constants and
System Type
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Steady-State Error for Non-unity Feedback Systems
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Sensitivity
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