Steady state error- Control system

[kidsasd987]

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

 

[BvU]

Hi,

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