The Final Value Theorem is a way we can determine what value the time domain function approaches at infinity but from the S-domain transfer function. This is very helpful when we're trying to find out what the steady state error is for our control system, or to easily identify how to change the controller to erase or minimize the steady state error.

Two proofs of the Final Value Theoerm:
www.ee.kth.se/~tn/.../Basic.../Initial_a­nd_Final_Value_Theorems_uk.pdf
renyi.ece.iastate.edu/zhengdao/initial-v­alue-theorem.pdf

Errata:
7:55 I wrote "If all poles are in LHP then type 1 and FV=0" and it should be "If all poles are in the LHP then type 0 and FV=0"

11:53 I left the 's' off the final value theorem equation. It should be the limit as s approaches 0 of 's' times the transfer function.

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