| Input type | Steady-state error | Position error constant ( K_p ) | Velocity error constant ( K_v ) | |------------|-------------------|----------------------------------|----------------------------------| | Step | ( \frac11+K_p ) | ( \lim_s\to0 G(s)H(s) ) | – | | Ramp | ( \frac1K_v ) | – | ( \lim_s\to0 sG(s)H(s) ) |
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Comprehensive step-by-step rules for constructing root loci, finding angles of departure/arrival, and determining the breakaway points. 4. Frequency-Response Analysis