1. Chapter 7: Steady state error analysis
Test waveforms for evaluating steady-state errors of position control systems
Chapter 7: Steady state error analysis
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.

2. Steady-state error: a. step input; b. ramp input
System response to different inputs
Steady-state error: a. step input; b. ramp input
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.

3. Intuition/motivation for steady state error analysis
System with: a. finite steady-state error for a step input; b. zero steady-state error for step input
Intuition/motivation for steady state error analysis
Esteady state=(1/K)Csteady state
Esteady state=0 for Csteady state 0
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.

4. Figure 7.8 Feedback control system for defining system type
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.

5. Table 7.2 Relationships between input, system type, static error constants, and steady-state errors
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.

6. Figure 7.10 Feedback control system for Example 7.6
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.

7. Figure 7.11 Feedback control system showing disturbance
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.

8. Figure 7.12 Figure 7.11 system rearranged to show disturbance as input and error as output, with R(s) = 0
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.

9. Figure 7.19 Feedback control system for Examples 7.10 and 7.11
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.