The quality of these videos are always outstanding! Deserves way more views. Thank you for helping students like me learn these tough concepts with so much clarity!
So each of Kₛ , Kᵥ, and Kₐ can contribute to final steady state error? Can they all be finite for one system? And since the relation is position-velocity-acceleration, are Kₛ , Kᵥ, and Kₐ independent or can they be derived from each other?
Thanks for the questions! Yes, they can all contribute to the final steady state error, but they cannot all be finite for one system. Well, technically, 0 is a finite number, so depends on your definition. But it makes sense if you think about it - if you have a steady state acceleration error, then you're not going to have a steady state (or finite) position or velocity error as they both will be changing continuously. And if you have a steady state position error, then you can't have a non-zero acceleration or velocity error, because then you wouldn't have reached a steady state in position. And while the three static error coefficients are mathematically related, I'm not sure if there is a way to derive one from another. I'm also not sure if there is a reason you would ever need to do that. I'll have to think about this one more and let you know if anything comes to mind.
