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Transfer function G_{0}(s) with delayed I behaviour
From Eq. (7.15) it follows for this case that

(7.28) 
The inherent open control loop shows delayed I behaviour. With Eq. (7.25)
one obtains for the steadystate error of the closed loop for the case of a step input signal

(7.29) 
and in the case of a ramp input
signal

(7.30) 
Furthermore in the case of parabolic input signal we have the same result as
Eq. (7.27).
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Christian Schmid 20050509