C. Example 3
This example shows a case that the disturbance is
introduced at the steady state. The controlled plant and the
feedback gain are the same as example 1. A step set-point is
400 (mm), a load disturbance D(s) = -10/sis introduced at
6 t = (s). The simulation result is shown in Fig. 6. The
proposed method has no steady state error in the disturbance
response, but the conventional method has the steady state
error.