Measures that indicate the need for dynamic compensation when steady-state models are used for control

Steady-state models are simpler than dynamic models, and so it is preferable to use steady-state models for control. However, a guideline is needed to determine as to when steady-state models can be used and when dynamic compensation must be included. This paper develops quantitative measures that indicate where compensation must be used to eliminate the problems associated with the use of steady-state models. Both single-input-single-output (SISO) and multi-input-multi-output (MIMO) examples are considered and generalized. Criteria are developed to guide when dynamic compensation of steady-state models is needed