自动控制原理与设计（第八版）（英文版）课件 Z11_FRAN4522_08_GE_W4.2.2.1.pdf

main_1 — 2018/12/31 — 17:32 — page 64 — #1 Appendix W4.2.2.1 Truxal’s Formula for the Error Constants Truxal (1955) derived a formula for the velocity constant of a Type 1 sys- tem in terms of the closed-loop poles and zeros, which is a formula that connects the steady-state error to the system’s dynamic response. Since control design often requi