Repeat the exercise, but now considering an Integral control action which, as will be seen, does not eliminate the error

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Repeat the exercise, but now considering an Integral control action which, as will be seen, does not eliminate the error in steady state, but will help reduce it. In this case, the value of 𝐾_𝑖 is very relevant
Calculate the steady-state error 𝑒_𝑠𝑠 in the following control loop
Where:
𝑟(𝑡)=1, unit ramp
𝐻(𝑠)=1, unit feedback

Repeat The Exercise But Now Considering An Integral Control Action Which As Will Be Seen Does Not Eliminate The Error 1 (9.32 KiB) Viewed 25 times

R(s) E(S) K₁ S Controlador U(s) 2 S+5 Planta Y(s)