Try an opposing correction that can still overshoot
In this original discrete example, for k>0, each nonzero correction opposes the current displacement from a fixed target. Change the gain and compare the analytic behaviour with the observed tolerance band. The calculation is stipulated; it has no measured service or organisational parameters.
Open the interactive response model
For a nonzero initial error and the shown gain range| Gain k | Exact result from e[n]=(1−k)ⁿe[0] |
|---|
| 0 | Error stays unchanged; no effective correction. |
| 0<k<1 | Error magnitude decays without changing sign. |
| 1 | Error reaches exact zero in one step. |
| 1<k<2 | Error alternates and decays. |
| 2 | Bounded undamped alternation; stable under small perturbations, but not asymptotically stable. |
| 2<k≤3 | Alternating growth in magnitude. |
With k=0.5, initial error 1, and tolerance ±0.25, step 12 lies inside the band, but the run did not stay inside it from step 0. With k=2, initial error 0.25, and tolerance ±0.25, every shown state remains inside, although the error never decays. Starting exactly at zero keeps this model there even for k=3; that run cannot establish stability under perturbation.
Fixed target: e[n+1]=(1−k)e[n]
Varying target: e[n+1]=(1−k)e[n]+r[n+1]−r[n]
The correction’s derivative with respect to the current state is −k. The multiplier of successive errors is 1−k. Confusing those two signs hides the very behaviour the example exposes. The model contains an integrating state update, with no additional delay, plant dynamics, noise, saturation, or continuing disturbance. A varying target changes the recurrence.
Maxwell’s mechanical governors have continuous dynamics; the unit-step gain thresholds here are not his result. Nor does Ashby’s formulation-specific argument about perfect error-controlled regulation forbid every exact one-step correction in a different model. Our k=1 example has a fixed target, exact measurement, no subsequent disturbance, and the stipulated update.