Page 80 - basic control system
P. 80
STATIC ERROR
COEFFICIENT METHOD
PARABOLIC INPUT
❑ Reference input is parabolic of magnitude ‘A’:
=
3
( )
= lim
→0 1 + ( )
( )
3
= lim
→0 1 + ( )
= lim
2
→0 [1 + ]
= lim
2
2
→0 + ]
=
2
lim ( )
→0
❑ Ka = ( ) = Acceleration Error Coefficient
→
❑ The corresponding error is:
=
57
