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//steady state errors from closed loop transfer functions
s=%s
p=poly([5 1 0],'s','coeff');
q=poly([10 10 60 17 1],'s','coeff');
M=p/q
disp(M,"M(s)=")
H=2;
R=1;
b=coeff(p)
a=coeff(q)
//step input
if (a(1,1)==b(1,1)) then
printf("for step input Ess=0 \n" )
else
Ess=1/H*(1-(b(1,1)*H/a(1,1)))*R
disp(Ess,"for step input Ess=")
end
//ramp input
c=0
for i=1:2
if(a(1,i)-b(1,i)*H==0) then
c=c+1
end
end
if(c==2)
printf("for ramp input Ess=0 \n")
else if(c==1) then
Ess=(a(1,2)-b(1,2)*H)/a(1,1)*H
disp(Ess,"for ramp input Ess=")
else printf("for ramp input Ess=inf \n")
end
end
//parabolic input
c=0
for i=1:3
if(a(1,i)-b(1,i)*H==0) then
c=c+1
end
end
if(c==3)
printf("for parabolic input Ess=0 \n")
else if(c==2) then
Ess=(a(1,3)-b(1,3)*H)/a(1,1)*H
disp(Ess,"for parabolic input Ess=")
else printf("for parabolic input Ess=inf \n")
end
end
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