Question: Show that the expression for the steady state error for the closed loop step response is ess = 1 1 + kp . Consider the

Show that the expression for the steady state error for the closed loop step response is ess=11+kp. Consider the physical meaning of this. The input is a step, the output is yss and the error is ess=ussyss=1yss. Recall that the dc gain is equal to the system's steady state value when the input is a step. So, for this very special case of a step response, we can write ess=1kdc. Show that the closed loop dc gain is kdc=

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