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syms s
G= 100/(s^2*(s+2)*(s+5))
syms s
Kp=limit(s*y/s,s,0) //Kp= position error coefficient
Kv=limit(s*G*H,s,0) //Kv= velocity error coefficient
Ka=limit(s^2*G*H,s,0) //Ka= accelaration error coefficient
disp(Ka ,"Ka = ")
disp(Kv ,"Kv = ")
disp(Kp ,"Kp = ")
Ess=1/(1+Kp) + (1/Kv) + (4/Ka)
disp(Ess, "Ess = ")
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