Thanks in advance for having a look.
I finally have some time on my hands to go back through my controls systems text and I want to understand how the general expression is derived; rather than just use the equation without understanding where it came from.
I'm hoping someone can help me find out why I have one extra term [1/G(S)] in the general equation which defines the steady state error of a non-unity gain feedback control system with an external disturbance.
I've searched the Internet and have found and read numerous papers about the topic (mostly from university lectures) but, none show the development of the general equation. The papers usually show the general equation without any development, only how to use the formula, or the paper covers only the unity gain case.
I've uploaded images showing the steps I've taken during the derivation of the general equation along with the final result.
My work matches the equation in my control system's text except for the 1/G(S) term.