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## Homework Statement

If the steady-state error of the proportional-plus-derivative-plus acceleration system is to be less than 10% determine a suitable value for Kp.

## Homework Equations

The input of the system is: v

The output of the system is: y

The transfer function of the system including the controller is:

(23(Kp+4s+s^2)) / (s^3+19s^2+48s+96+23Kp)

## The Attempt at a Solution

With steady state: s = 0

Therefore: y steady state = v x (23Kp / (96 + 23Kp))

The error of the system is: v-y

Therefore: error = v - (23Kp / (96+23Kp))v

error = 96v / (96 + 23Kp)

How can I correctly substitute the error of 10% now in this equation.

I think (v-y)/y = 0.1 [error]

But this will leave 3 variables in the equation...

Thanks in advance!