Ramp reference signal
= Ramp reference signal
{title2=$r(t)=vt$}
A <ramp reference signal> changes at a constant rate $v$ from $t=0$ onward. Its <derivative> is $v$ for $t>0$. A <ramp reference signal> tests whether a <controller> can keep following a moving goal, rather than merely reaching a fixed one; a finite <steady-state tracking error> can coexist with an unbounded <reference signal>.