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static error coefficients are the error calculated when steady state is reached. so, the dynamic error coefficients give the error calculated with time.
it just calculated by taking the inverse Laplace transform of E(s) term resulting in the equation:
e(t)=k0 r(t) + k1 r('t) + k2 r''(t) + ...
where, k0: position error coefficient
k1: velocity error coefficient
k2: acceleration error coefficient
sks..
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