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+//caption:determine_Kp_Kv_Ka
+//example 6.10.17
+//page 188
+s=%s;
+syms t;
+num=sym('2*(s^2+3*s+20)');
+den=sym('s*(s+2)*(s^2+4*s+10)');
+GH=num/den;
+GH=simple(GH);
+disp(GH,"G(s)H(s)=");
+input1=5;
+Kp=limit(GH,s,0);//static positional error coefficient
+Ess=5*(1/(1+Kp));//steady state error
+e=(1/(%inf+1));
+e=0;
+Ess=e;
+disp(Kp,"static positional error coefficient=");
+disp(Ess,"steady state error=");
+input2=4*t;
+Kv=limit(s*GH,s,0);//static velocity error coefficient
+Ess=(1/Kv)*4;//steady state error
+disp(Kv,"static velocity error coefficient=");
+disp(Ess,"steady state error=");
+input3=(4*t^2)/2;
+Ka=limit(s^2*GH,s,0);//static acceleration error coefficient
+Ess=(1/Ka)*4;//steady state error
+disp(Ka,"static acceleration error coefficient=");
+disp("steady state error=");
+disp("infinity")
+