Automatic Control Systems
For type 1 system the velocity lag error is

Independent of gain constant
Directly proportional to gain constant
Inversely proportional to bandwidth of system
Inversely proportional to gain constant

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Automatic Control Systems
A lag compensator

Speeds up the transient response of the system
Improves steady state behavior and speeds up the transient response of the system
Improves steady state behavior and preserves the transient response of the system
Improves steady state behavior of the system

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