Modify the PD system diagram shown in Figure 10.7.1 to include feed forward compensation with a compensator

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Modify the PD system diagram shown in Figure 10.7.1 to include feed forward compensation with a compensator gain of Kf. Determine whether such compensation can reduce the steady-state error for step and ramp commands.
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System Dynamics

ISBN: 978-0073398068

3rd edition

Authors: William Palm III

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