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+//caption:determine_Kp_Kv_Ka

+//example 6.10.17

+//page 188

+s=%s;

+syms t K zeta Wn;

+num=K;

+den=sym('s*(s^2+2*zeta*Wn*s+Wn^2)');

+G=num/den;

+G=simple(G);

+disp(G,"G(s)=");

+Kp=limit(G,s,0);//static positional error coefficient

+disp(Kp,"static positional error coefficient,Kp=");

+Kv=limit(s*G,s,0);//static velocity error coefficient

+disp(Kv,"static velocity error coefficient,Kv=");

+Ka=limit(s^2*G,s,0);//static acceleration error coefficient

+disp(Ka,"static acceleration error coefficient,Ka=");

+printf("for(ii):");

+num=sym('100*(s+2)*(s+40)');

+den=sym('s^3*(s^2+4*s+200)');

+GH=num/den;

+GH=simple(GH);

+disp(GH,"G(s)H(s)=");

+Kp=limit(GH,s,0);//static positional error coefficient

+disp(Kp,"static positional error coefficient,Kp=");

+Kv=limit(s*GH,s,0);//static velocity error coefficient

+disp(Kv,"static velocity error coefficient,Kv=");

+Ka=limit(s^2*GH,s,0);//static acceleration error coefficient

+disp(Ka,"static acceleration error coefficient,Ka=");
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