8.2 The steady-state error ess (e(oo)) E(S=R(s)C(S) R(s) 1+G(S) e(oo)=lim SE(s)=lm SR(S) 1+G(s) e(oo)is determined by two factors r(t and G(s)8.2 The steady-state error ess ( ) e() ( ) 1 ( ) 1 ( ) ( ) ( ) R s G s E s R s C s + = − = 1 ( ) 1 ( ) lim ( ) lim ( ) 0 0 G s e sE s sR s s s +  = = → → e() is determined by two factors: r(t) and G(s)