自动控制原理ch5.pptVIP

Such a system without an integrator in the feedforward path always has a steady-state error in the step response. Such a steady-state error is called an offset. Proportional Control of Systems Integral Control of Systems For the unit-step input R(s)=1/s, we have Integral control of the systems thus eliminates the steady-state error in the step response. An advantage of using derivative control action is that it responds to the rate of change of the actuating error and can produce a significant correction before the magnitude of the actuating error becomes too large. Derivative Control