Steady state error- Control system

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kidsasd987
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Hello,

I have a question about steady state error.

how can we get to the C?

I think it has to be Ea(G1+D)G2=C
which gives(R-NH)(G1+D)G2 / (1+(G1+D)G2H)=C
 

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Hi,

Is there a contradiction between what you write and what the author writes ?
 

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