Steady-state sensitivity error coefficients in multivariable linear systems

The steady-state sensitivity error coefficients are introduced. They are similar to the generalized error coefficients of classical control theory. However, rather than a measure of how a system output fails to track the input, the steady-state sensitivity error coefficients are a measure of how the output of a system with some parameters changed fails to track the output of the expected system. The error during the transient period is completely ignored. The error is given by a series of the derivatives of the input, ands therefore, for polynomial inputs the series terminates and a closed form for the steady-state error is obtained.