From the above formulas we can

see, when choose the value of the step factor, the steady-state

error and convergence rate are contradictory mutually, that is,

the smaller step size lead to smaller offset and the slower

convergence rate the larger step size results in faster

convergence rate and the larger offset.-From the above formulas we can

see, when choose the value of the step factor, the steady-state

error and convergence rate are contradictory mutually, that is,

the smaller step size lead to smaller offset and the slower

convergence rate　the larger step size results in faster

convergence rate and the larger offset.