稳态误差的计算方法有哪两种

1)静态误差系数法(s趋于0)
Kp=limG(s) R(t)=V1(t) ess=V/1+Kp
Kv=limsG(s) R(t)=Vt ess=V/Kv
Ka=lims^2G(s) R(t)=V(1/2)t^2 ess=V/Ka
2)终值定理
ess=limsE(s)(s趋于0)
=limsΦe(s)R(s)
注意：无论哪一种做法，你都要先用劳斯判据判断一下稳定性再求解稳态误差