{"id":6179,"date":"2024-01-23T21:39:57","date_gmt":"2024-01-23T12:39:57","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=6179"},"modified":"2026-10-04T08:43:48","modified_gmt":"2026-10-03T23:43:48","slug":"steady-state-error","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/steady-state-error\/","title":{"rendered":"steady state error"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1107\" height=\"628\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-46.png\" alt=\"\" class=\"wp-image-6180\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-46.png 1107w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-46-768x436.png 768w\" sizes=\"auto, (max-width: 1107px) 100vw, 1107px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1073\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-84.png\" alt=\"\" class=\"wp-image-9189\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-84.png 1073w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-84-768x916.png 768w\" sizes=\"auto, (max-width: 1073px) 100vw, 1073px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1498\" height=\"2048\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-47.png\" alt=\"\" class=\"wp-image-6181\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-47.png 1498w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-47-768x1050.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-47-1124x1536.png 1124w\" sizes=\"auto, (max-width: 1498px) 100vw, 1498px\" \/><\/figure>\n\n\n\n<pre class=\"wp-block-code\"><code><iframe loading=\"lazy\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/ProblemSolve_115.html\" width=\"600\" height=\"800\" align=\"middle\"><\/iframe><\/code><\/pre>\n\n\n\n&#8220;`html\n<div class=\"chapter19-wide\">\n\n  <h1>Steady-State Error<\/h1>\n\n  <div class=\"subtitle\">\n    Steady-State Error \u00b7 System Type \u00b7 Final Value Theorem \u00b7 Characteristic Equation\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. \ubb38\uc81c<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud53c\ub4dc\ubc31 \uc81c\uc5b4\uc2dc\uc2a4\ud15c\uc774 \ub2e4\uc74c \ub450 \uc870\uac74\uc744 \ub9cc\uc871\ud574\uc57c \ud55c\ub2e4.\n    <\/p>\n\n    <ol>\n      <li>\ub2e8\uc704\uacc4\ub2e8\ud568\uc218 \uc785\ub825\uc5d0 \uae30\uc778\ud558\ub294 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub294 0\uc774\ub2e4.<\/li>\n      <li>\uc804\uccb4 \uc2dc\uc2a4\ud15c\uc758 \ud2b9\uc131\ubc29\uc815\uc2dd\uc740 \ub2e4\uc74c\uacfc \uac19\ub2e4.<\/li>\n    <\/ol>\n\n    <div class=\"formula\">\n      s<sup>3<\/sup>\n      + 4s<sup>2<\/sup>\n      + 6s\n      + 10\n      =\n      0\n    <\/div>\n\n    <p>\n      \ub450 \uc870\uac74\uc744 \ub9cc\uc871\ud558\ub294 3\ucc28 \uc2dc\uc2a4\ud15c\uc758 \uc804\ub2ec\ud568\uc218\ub97c \uad6c\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n                 +                 e\n      R(s) ------>(\u03a3)-------------->[ G(s) ]--------+------> C(s)\n                    -                               |\n                    ^                               |\n                    |                               |\n                    +-------------------------------+\n                           Unity Feedback\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. Unity Feedback\uc758 Error<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n                 +                 E(s)\n      R(s) ------>(\u03a3)-------------->[ G(s) ]--------+------> Y(s)\n                    -                               |\n                    ^                               |\n                    |                               |\n                    +-------------------------------+\n    <\/pre>\n\n    <p>\n      Unity feedback\uc5d0\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      E(s)\n      =\n      R(s) &#8211; Y(s)\n    <\/div>\n\n    <p>\n      \ucd9c\ub825\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      Y(s)\n      =\n      G(s)E(s)\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      E(s)\n      =\n      R(s)\n      &#8211;\n      G(s)E(s)\n    <\/div>\n\n    <div class=\"formula\">\n      E(s)[1+G(s)]\n      =\n      R(s)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      E(s)\n      =\n      R(s)\n      \/\n      [1+G(s)]\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        Unity Feedback\uc5d0\uc11c Error \uc804\ub2ec\ud568\uc218\ub294\n        E(s)\/R(s) = 1\/[1+G(s)]\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. Closed-Loop Transfer Function<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ucd9c\ub825\uc5d0 \ub300\ud574\uc11c\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      Y(s)\n      =\n      G(s)E(s)\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      Y(s)\/R(s)\n      =\n      G(s)\n      \/\n      [1+G(s)]\n    <\/div>\n\n    <div class=\"formula\">\n      T(s)\n      =\n      G(s)\n      \/\n      [1+G(s)]\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        Unity Negative Feedback\uc758\n        \ud3d0\ub8e8\ud504 \uc804\ub2ec\ud568\uc218\ub294 G\/(1+G)\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. \ub2e8\uc704\uacc4\ub2e8 \uc785\ub825\uacfc \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub2e8\uc704\uacc4\ub2e8 \uc785\ub825\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      R(s)\n      =\n      1\/s\n    <\/div>\n\n    <p>\n      \uc774\ub2e4.\n    <\/p>\n\n    <p>\n      Error\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      E(s)\n      =\n      1\n      \/\n      {s[1+G(s)]}\n    <\/div>\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub294 Final Value Theorem\uc744 \uc774\uc6a9\ud558\uc5ec \uad6c\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      lim<sub>t\u2192\u221e<\/sub>e(t)\n    <\/div>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      lim<sub>s\u21920<\/sub>sE(s)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      lim<sub>s\u21920<\/sub>\n      1\/[1+G(s)]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. \ub2e8\uc704\uacc4\ub2e8 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\uac00 0\uc774 \ub418\ub294 \uc870\uac74<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ubb38\uc81c\uc758 \uc870\uac74\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub> = 0\n    <\/div>\n\n    <p>\n      \uc774\ub2e4.\n    <\/p>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      lim<sub>s\u21920<\/sub>\n      1\/[1+G(s)]\n      =\n      0\n    <\/div>\n\n    <p>\n      \uac00 \ub418\uc5b4\uc57c \ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \uc774\ub97c \ub9cc\uc871\ud558\ub824\uba74 \uc800\uc8fc\ud30c\uc5d0\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      G(s) \u2192 \u221e\n      &nbsp;&nbsp;(s\u21920)\n    <\/div>\n\n    <p>\n      \uc774\uc5b4\uc57c \ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \ub530\ub77c\uc11c G(s)\uc5d0 \uc801\uc5b4\ub3c4 \ud558\ub098\uc758\n      \uc6d0\uc810 pole, \uc989 \uc801\ubd84\uc694\uc18c\uac00 \ud544\uc694\ud558\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      1\/s\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        \ub2e8\uc704\uacc4\ub2e8 \uc785\ub825\uc5d0 \ub300\ud574 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub97c 0\uc73c\ub85c \ub9cc\ub4e4\ub824\uba74\n        Open-Loop Transfer Function\uc774 \uc801\uc5b4\ub3c4 Type 1\uc774\uc5b4\uc57c \ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. System Type<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      System Type\uc740 Open-Loop Transfer Function\uc774 \uac16\ub294\n      \uc6d0\uc810 pole\uc758 \uac1c\uc218\ub85c \uacb0\uc815\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"table-wrap\">\n\n      <table>\n\n        <thead>\n          <tr>\n            <th>System Type<\/th>\n            <th>\uc6d0\uc810 Pole<\/th>\n            <th>Step \uc785\ub825 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28<\/th>\n          <\/tr>\n        <\/thead>\n\n        <tbody>\n\n          <tr>\n            <td>Type 0<\/td>\n            <td>0\uac1c<\/td>\n            <td>\uc720\ud55c\uac12<\/td>\n          <\/tr>\n\n          <tr>\n            <td>Type 1<\/td>\n            <td>1\uac1c<\/td>\n            <td>0<\/td>\n          <\/tr>\n\n          <tr>\n            <td>Type 2 \uc774\uc0c1<\/td>\n            <td>2\uac1c \uc774\uc0c1<\/td>\n            <td>0<\/td>\n          <\/tr>\n\n        <\/tbody>\n\n      <\/table>\n\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        Step Input\uc5d0 \ub300\ud574 e<sub>ss<\/sub>=0\uc774\ub77c\ub294 \uc870\uac74\ub9cc\uc73c\ub85c\ub294\n        Type 1 \uc774\uc0c1\uc774\ub77c\ub294 \uc0ac\uc2e4\uc744 \uc54c \uc218 \uc788\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. \ud544\uae30 \ud480\uc774 \u2460 \u2014 Type 1 \ud615\ud0dc<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uccab \ubc88\uc9f8 \ud544\uae30\uc5d0\uc11c\ub294\n      \ub2e8\uc704\uacc4\ub2e8 \uc785\ub825\uc5d0 \ub300\ud574 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub97c 0\uc73c\ub85c \ub9cc\ub4e4\uae30 \uc704\ud574\n      G(s)\uc5d0 \uc6d0\uc810 pole \ud558\ub098\ub97c \ub454\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      G(s)\n      =\n      (1\/s)\n      \u00b7\n      K\/(s<sup>2<\/sup>+\u03b1s+\u03b2)\n    <\/div>\n\n    <p>\n      \uc989\n    <\/p>\n\n    <div class=\"formula\">\n      G(s)\n      =\n      K\n      \/\n      [s(s<sup>2<\/sup>+\u03b1s+\u03b2)]\n    <\/div>\n\n    <p>\n      Unity Feedback\uc758 \ud3d0\ub8e8\ud504 \uc804\ub2ec\ud568\uc218\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      T(s)\n      =\n      G(s)\/(1+G(s))\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      T(s)\n      =\n      K\n      \/\n      [\n      s(s<sup>2<\/sup>+\u03b1s+\u03b2)\n      +\n      K\n      ]\n    <\/div>\n\n    <p>\n      \ubd84\ubaa8\ub97c \uc804\uac1c\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      s<sup>3<\/sup>\n      +\n      \u03b1s<sup>2<\/sup>\n      +\n      \u03b2s\n      +\n      K\n    <\/div>\n\n    <p>\n      \ubb38\uc81c\uc5d0\uc11c \uc8fc\uc5b4\uc9c4 \ud2b9\uc131\ubc29\uc815\uc2dd\n    <\/p>\n\n    <div class=\"formula\">\n      s<sup>3<\/sup>\n      +\n      4s<sup>2<\/sup>\n      +\n      6s\n      +\n      10\n    <\/div>\n\n    <p>\n      \uacfc \uacc4\uc218\ub97c \ube44\uad50\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      \u03b1 = 4\n    <\/div>\n\n    <div class=\"formula\">\n      \u03b2 = 6\n    <\/div>\n\n    <div class=\"formula\">\n      K = 10\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c \ud544\uae30\uc5d0\uc11c \uc5bb\uc740 Open-Loop Transfer Function\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      G(s)\n      =\n      10\n      \/\n      [s(s<sup>2<\/sup>+4s+6)]\n    <\/div>\n\n    <p>\n      \uc774\ub2e4.\n    <\/p>\n\n    <p>\n      \ud3d0\ub8e8\ud504 \uc804\ub2ec\ud568\uc218\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      T(s)\n      =\n      10\n      \/\n      (s<sup>3<\/sup>+4s<sup>2<\/sup>+6s+10)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. \ud544\uae30 \ud480\uc774 \u2461 \u2014 \ub2e4\ub978 \uac00\ub2a5\ud55c G(s)<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud3ec\uc2a4\ud2b8\uc758 \ub2e4\ub978 \ud544\uae30\uc5d0\uc11c\ub294 \ub2e4\uc74c \ud615\ud0dc\ub3c4 \uc0ac\uc6a9\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      G(s)\n      =\n      (4s<sup>2<\/sup>+6s+10)\n      \/\n      s<sup>3<\/sup>\n    <\/div>\n\n    <p>\n      Unity Feedback\uc5d0\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      T(s)\n      =\n      G(s)\/(1+G(s))\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      T(s)\n      =\n      (4s<sup>2<\/sup>+6s+10)\n      \/\n      (s<sup>3<\/sup>+4s<sup>2<\/sup>+6s+10)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c \ud3d0\ub8e8\ud504 \ud2b9\uc131\ubc29\uc815\uc2dd\uc740 \uc5ed\uc2dc\n    <\/p>\n\n    <div class=\"formula\">\n      s<sup>3<\/sup>\n      +\n      4s<sup>2<\/sup>\n      +\n      6s\n      +\n      10\n      =\n      0\n    <\/div>\n\n    <p>\n      \uc774\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        \ud3ec\uc2a4\ud2b8\uc758 \ub450 \ud544\uae30\uc5d0\uc11c\ub294 \uc11c\ub85c \ub2e4\ub978 G(s)\ub97c \uad6c\uc131\ud558\uc9c0\ub9cc,\n        \ub450 \uacbd\uc6b0 \ubaa8\ub450 \uc8fc\uc5b4\uc9c4 \ud3d0\ub8e8\ud504 \ud2b9\uc131\ubc29\uc815\uc2dd\uacfc\n        Step \uc785\ub825 e<sub>ss<\/sub>=0 \uc870\uac74\uc744 \ub9cc\uc871\uc2dc\ud0a4\ub294 \ud615\ud0dc\ub85c \uc815\ub9ac\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. \ub450 \ud480\uc774 \ube44\uad50<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\uad6c\ubd84<\/th>\n          <th>Open-Loop G(s)<\/th>\n          <th>Closed-Loop T(s)<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>\ud544\uae30 \u2460<\/strong><\/td>\n          <td>\n            10 \/\n            [s(s\u00b2+4s+6)]\n          <\/td>\n          <td>\n            10 \/\n            (s\u00b3+4s\u00b2+6s+10)\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ud544\uae30 \u2461<\/strong><\/td>\n          <td>\n            (4s\u00b2+6s+10)\/s\u00b3\n          <\/td>\n          <td>\n            (4s\u00b2+6s+10) \/\n            (s\u00b3+4s\u00b2+6s+10)\n          <\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. Python \uac80\uc0b0\uc5d0 \uc0ac\uc6a9\ud55c \uc804\ub2ec\ud568\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud3ec\uc2a4\ud2b8\uc758 Python \uacc4\uc0b0\uc5d0\uc11c\ub294 \ub2e4\uc74c \ud3d0\ub8e8\ud504 \uc804\ub2ec\ud568\uc218\ub97c \uc0ac\uc6a9\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      T(s)\n      =\n      (4s<sup>2<\/sup>+6s+10)\n      \/\n      (s<sup>3<\/sup>+4s<sup>2<\/sup>+6s+10)\n    <\/div>\n\n    <p>\n      \ub2e8\uc704\uacc4\ub2e8 \uc785\ub825\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      R(s)=1\/s\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      Y(s)\n      =\n      (4s<sup>2<\/sup>+6s+10)\n      \/\n      [\n      s(s<sup>3<\/sup>+4s<sup>2<\/sup>+6s+10)\n      ]\n    <\/div>\n\n    <p>\n      Python step response \uacc4\uc0b0 \uacb0\uacfc,\n      \uc815\uc0c1\uc0c1\ud0dc \uac12\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      y(\u221e) = 1\n    <\/div>\n\n    <p>\n      \ub85c \ud655\uc778\ub41c\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        Python \uac80\uc0b0 \uacb0\uacfc SteadyStateValue = 1.0\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. Python Step Response \uacb0\uacfc<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\ud56d\ubaa9<\/th>\n          <th>\uacc4\uc0b0 \uacb0\uacfc<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td>Rise Time<\/td>\n          <td>0.311 s<\/td>\n        <\/tr>\n\n        <tr>\n          <td>Settling Time<\/td>\n          <td>6.850 s<\/td>\n        <\/tr>\n\n        <tr>\n          <td>Overshoot<\/td>\n          <td>33.15 %<\/td>\n        <\/tr>\n\n        <tr>\n          <td>Peak<\/td>\n          <td>1.3315<\/td>\n        <\/tr>\n\n        <tr>\n          <td>Peak Time<\/td>\n          <td>0.934 s<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Steady-State Value<\/strong><\/td>\n          <td><strong>1.0<\/strong><\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. Steady-State Error \ud655\uc778<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub2e8\uc704\uacc4\ub2e8 \uc785\ub825\uc758 \ucd5c\uc885\uac12\uc740 1\uc774\uace0,\n      \ucd9c\ub825\uc758 \ucd5c\uc885\uac12\ub3c4 1\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      r(\u221e) = 1\n    <\/div>\n\n    <div class=\"formula\">\n      y(\u221e) = 1\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      r(\u221e)-y(\u221e)\n    <\/div>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      1-1\n    <\/div>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      0\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>13. ASCII \ube14\ub85d\uc120\ub3c4 \uc815\ub9ac<\/h2>\n\n  <div class=\"card\">\n\n    <h4>Unity Feedback<\/h4>\n\n    <pre>\n                   E(s)\n            +      \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba [ G(s) ] \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba Y(s)\n      R(s) \u2500\u2500\u2500\u25ba ( \u03a3 )                       \u2502\n                 - \u25b2                         \u2502\n                   \u2502                         \u2502\n                   \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n                         H(s) = 1\n    <\/pre>\n\n    <h4>Error \uad00\uacc4<\/h4>\n\n    <pre>\n      R(s) \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n                          \u25bc\n                       [ 1\/(1+G) ] \u2500\u2500\u2500\u2500\u2500\u25ba E(s)\n    <\/pre>\n\n    <h4>Output \uad00\uacc4<\/h4>\n\n    <pre>\n      R(s) \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n                          \u25bc\n                       [ G\/(1+G) ] \u2500\u2500\u2500\u2500\u2500\u25ba Y(s)\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>14. \uc8fc\uc694 \uad00\uacc4\uc2dd<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\ud56d\ubaa9<\/th>\n          <th>\uad00\uacc4\uc2dd<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>Error<\/strong><\/td>\n          <td>\n            E\/R = 1\/(1+G)\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Closed-Loop Transfer Function<\/strong><\/td>\n          <td>\n            T = G\/(1+G)\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Unit Step<\/strong><\/td>\n          <td>\n            R(s)=1\/s\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Final Value Theorem<\/strong><\/td>\n          <td>\n            e<sub>ss<\/sub>\n            =\n            lim<sub>s\u21920<\/sub>sE(s)\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Step \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28<\/strong><\/td>\n          <td>\n            e<sub>ss<\/sub>\n            =\n            lim<sub>s\u21920<\/sub>1\/[1+G(s)]\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>e<sub>ss<\/sub>=0 \uc870\uac74<\/strong><\/td>\n          <td>\n            G(s)\u2192\u221e as s\u21920\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>System Type<\/strong><\/td>\n          <td>\n            Open-loop \uc6d0\uc810 pole \uac1c\uc218\n          <\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>15. \ud575\uc2ec \uae30\uc5b5 \ubb38\uc7a5<\/h2>\n\n  <div class=\"memory\">\n\n    <ol>\n\n      <li>\n        <strong>\n          Unity Feedback\uc5d0\uc11c\n          E\/R = 1\/(1+G)\uc774\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          \ud3d0\ub8e8\ud504 \uc804\ub2ec\ud568\uc218\ub294\n          T=G\/(1+G)\uc774\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub294 Final Value Theorem\uc73c\ub85c\n          e<sub>ss<\/sub>=lim sE(s)\ub85c \uad6c\ud55c\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          \ub2e8\uc704\uacc4\ub2e8 \uc785\ub825\uc5d0\uc11c\ub294\n          e<sub>ss<\/sub>\n          =\n          lim 1\/[1+G(s)]\uc774\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          \ub2e8\uc704\uacc4\ub2e8 \uc785\ub825\uc758 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\uac00 0\uc774 \ub418\ub824\uba74\n          G(s)\uac00 s\u21920\uc5d0\uc11c \ubb34\ud55c\ub300\ub85c \uac00\uc57c \ud55c\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          \ub530\ub77c\uc11c Open-Loop System\uc5d0\n          \uc801\uc5b4\ub3c4 \ud558\ub098\uc758 \uc6d0\uc810 pole,\n          \uc989 \uc801\ubd84\uc694\uc18c\uac00 \ud544\uc694\ud558\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          System Type\uc740 Open-Loop Transfer Function\uc758\n          \uc6d0\uc810 pole \uac1c\uc218\ub85c \uacb0\uc815\ub41c\ub2e4.\n        <\/strong>\n      <\/li>\n\n    <\/ol>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    Steady-State Error, Final Value Theorem,\n    System Type, Unity Feedback, Unit Step,\n    Origin Pole, Integrator, Characteristic Equation,\n    Closed-Loop Transfer Function\n  <\/div>\n\n<\/div>\n&#8220;`\n","protected":false},"excerpt":{"rendered":"<p>&#8220;`html Steady-State Error Steady-State Error \u00b7 System Type \u00b7 Final Value Theorem \u00b7 Characteristic Equation 1. \ubb38\uc81c \ud53c\ub4dc\ubc31 \uc81c\uc5b4\uc2dc\uc2a4\ud15c\uc774 \ub2e4\uc74c \ub450 \uc870\uac74\uc744 \ub9cc\uc871\ud574\uc57c \ud55c\ub2e4. \ub2e8\uc704\uacc4\ub2e8\ud568\uc218 \uc785\ub825\uc5d0 \uae30\uc778\ud558\ub294 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub294 0\uc774\ub2e4. \uc804\uccb4 \uc2dc\uc2a4\ud15c\uc758 \ud2b9\uc131\ubc29\uc815\uc2dd\uc740 \ub2e4\uc74c\uacfc \uac19\ub2e4. s3 + 4s2 + 6s + 10 = 0 \ub450 \uc870\uac74\uc744 \ub9cc\uc871\ud558\ub294 3\ucc28 \uc2dc\uc2a4\ud15c\uc758 \uc804\ub2ec\ud568\uc218\ub97c \uad6c\ud55c\ub2e4. + e R(s) &#8212;&#8212;>(\u03a3)&#8212;&#8212;&#8212;&#8212;&#8211;>[ [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_feature_clip_id":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_post_was_ever_published":false},"categories":[1185],"tags":[1231,2009,1232],"class_list":["post-6179","post","type-post","status-publish","format-standard","hentry","category-1185","tag-ess","tag-pole","tag-steady-state-error"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6179","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/comments?post=6179"}],"version-history":[{"count":8,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6179\/revisions"}],"predecessor-version":[{"id":9553,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6179\/revisions\/9553"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=6179"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=6179"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=6179"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}