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+//caption:determine_steady_state_error_and_error_coefficient
+//example 6.10.21
+//page 191
+s=%s;
+syms t;
+r=2+3*t+2*t^3;
+//since for 'r' only upto 2nd order derivative is non zero, so only coeff. C0 C1 C2 exist
+G=sym('1/(s*(s+2))');
+A=1/(1+G);
+A=simple(A);
+disp(A,"E(s)/R(s)=");
+C0=limit(A,s,0);
+B=sym('((1)/(s^2+2*s+1))');//on simplyfying A=1-B
+d=diff(-B,s);
+C1=limit(d,s,0);
+d1=diff(-B,s,2);
+C2=limit(d1,s,0);
+r1=diff(r,t);
+r2=diff(r,t,2);
+d2=diff(-B,s,3)
+C3=limit(d2,s,0)
+e=(C0*r)+(C1*r1)+(C2*r2)/2;
+disp(float(e),"steady_state_error,e=");
+disp(C0,"C0=");
+disp(float(C1),"C1=");
+disp(float(C2),"C2=");
+disp(float(C3),"C3=")