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In a control system integral error compensation _______ steady state error

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In a control system integral error compensation _______ steady state error

(a) Increases

(b) Minimizes

(c) Does not have any effect on

(d) All of the mentioned

This question was posed to me in an online interview.

My question is based upon Solution of State Equations in section State Variable Analysis and Design of Control Systems

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The correct choice is (b) Minimizes

To explain I would say: Integral error compensation is the phase lag compensation and reduces the steady state error and eliminates the error.

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