Transfer function G₀(s) with delayed I behaviour

From Eq. (7.15) it follows for this case that

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

and in the case of a ramp input signal

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

DYNAST study example 7.1   Cruise control of a car

DYNAST study example 7.2   D.C. motor position control

DYNAST study example 7.3   Double integrator plant

DYNAST study example 7.4   2nd-order plant

DYNAST study example 7.5   Load disturbance - 2nd-order plant