Control Systems Engineering: Steady-State Errors

ME 176
Control Systems Engineering

Steady-State Errors
Department of
Mechanical Engineering
Background: Design Process
Department of
Background: Analysis & Design Objectives

"Analysis is the process by which a system's performance is determined."
"Design is the process by which a systems performance is created or changed."
Transient Response
Steady State Response
Steady State Error

Stability
Department of
Background: Steady-State Error

Definition : is the difference between the input and the output for a
prescribed test input as t approaches infinity.
Scope :
Linear - the relationship between the input and the output of the
system satisfies the superposition property. If the input to the
system is the sum of two component signals:
In general:
If,
then,
Department of

Scope :
Time invariant systems - are systems that can be modeled with a
transfer function that is not a function of time except expressed
by the input and output.
"Meaning, that whether we apply an input to the system now or T
seconds from now, the output will be identical, except for a time delay
of the T seconds. If the output due to input x (t ) is y (t ), then the output
due to input x (t T ) is y (t T ). More specifically, an input affected by
a time delay should effect a corresponding time delay in the output,
hence time-invariant."
STABLE
Department of

Test Inputs :
Department of
Evaluating: Steady-State Error

1. Step Input:
Output 1 : No
Steady-State Error
Output 2 : Constant
Steady-State Error
of e2
2. Ramp Input
Output 1 : No
Steady-State Error
Output 2 : Constant
Steady-State Error
of e2
Output 3 : Infinite
Steady-State Error
Department of
Representation: Steady-State Error
R(s) and C(s) : Input and Output Respectively

E(s) : Steady-State Error
a) General Representation:
T(s) : Closed loop transfer function
b) Unity Feedback Systems
G(s): Open loop transfer function
Department of
Sources: Steady-State Error
Scope : Errors arising from configuration of the system itself and the
type of applied input.
a) Pure Gain : there will always be a
steady state error for a step input
b) Integrator : can have a zero steady
state error for a step input
Department of
Defining: Steady-State Error for Unity Feedback
Department of
Example: Steady-State Error for Unity Feedback
Steady-state error for a unit step input:
Department of
Defining: Steady-State Error for Unity Feedback
Department of
Example: Steady-State Error for Unity Feedback
Find the steady-state errors for inputs

of 5u(t), 5tu(t), and 5t^2u(t). The function
u(t) is the step function.
Note Laplace transforms:
Department of
Defining: Static Error Constants for Unity Feedback
Position Constant
Velocity Constant
Acceleration Constant
Department of
Example: Static Error Constants for Unity Feedback
Department of
Department of
Department of
System Types for

Unity Feedback:
Given the system shown, the
"system type" is defined as the
value of "n" in the denominator;
or, equivalently the number of pure
integrations in the feedforward path.
Department of
Specifications: Steady-State Error

"Static error constants can be used to specificy the
steady-state error characteristics of a control system."
Knowing Kp = 1000 what can be learned of the system:

1.
2.
3.
4.
System is stable.
System is Type 0
Input Test signal is step.
Error per unit step:
Department of
Example: Steady-State Error Specification
Find K so that there is a 10% error in steady state.

Since system is Type 1, error stated must apply to ramp function.
Department of
Analysis: Steady-State Error for Disturbances
"Steady-state error produced by a step

function can be reduced by increasing
the gain of G1(s) or decreasing the
gain of G2(s)."
Department of
Example: Steady-State Error for Disturbances
Find the steady-state error component due to a step disturbance.
Department of
Definition: Steady-State Error for Nonunity Feedback

Move R(s) to right
of summing
junction.
Compute resulting
G(s) and H(s).
Add and subtract
unity feedback
paths.
Combine negative
feedback path to H
(s).
Combine feedback
system consisting
of G(s) and [H(s)
-1].
Department of
Example: Steady-State Error for Nonunity Feedback

Find system type, appropriate
error constant, steady-state
error for unit step input.
Department of

w/ Disturbances
General form:
For step input and step distrubances:
Department of

w/ Disturbances
For zero error:

1.
2.
3.
4.
System is stable
G1(s) is type 1.
G2(s) is type 0.
H(s) is type 0 with a dc gain of unity.
Department of

w/ Disturbances
Steady-state value of the actuating signal Ea1(s)::
Department of
Example: Steady-State Error for Nonunity Feedback

w/ Disturbances
Find the steady-state actuating signal for unity step input. Repeat for unit ramp
input:
Step:
Ramp:
Department of
Definition: Sensitivity
"The degree to which changes in system parameters affect
system transfer functions, and hence performance."
A system with zero sensitivity is ideal.
Greater the sensitivity, the less desirable.
"The ratio of the fractional change in the function to the fractional change
in parameter as the fractional change of parameters approaches zero"
Department of
Example: Sensitivity
Calculate sensitivity of the closed-loop transfer function to changes in parameter a:

Closed-loop transfer function:
Department of
Example: Sensitivity
Calculate sensitivity of the closed-loop transfer function to changes in parameter K

and a, with ramp inputs:
Department of

Control Systems Engineering: Steady-State Errors

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ME 176

Control Systems Engineering

Background: Design Process

Background: Analysis & Design Objectives

Steady State Error

Background: Steady-State Error

Background: Steady-State Error

Background: Steady-State Error

Evaluating: Steady-State Error

Representation: Steady-State Error

R(s) and C(s) : Input and Output Respectively

Sources: Steady-State Error

Defining: Steady-State Error for Unity Feedback

Example: Steady-State Error for Unity Feedback

Steady-state error for a unit step input:

Defining: Steady-State Error for Unity Feedback

Example: Steady-State Error for Unity Feedback

Find the steady-state errors for inputs

Defining: Static Error Constants for Unity Feedback

Example: Static Error Constants for Unity Feedback

Example: Static Error Constants for Unity Feedback

Example: Static Error Constants for Unity Feedback

System Types for

Specifications: Steady-State Error

Knowing Kp = 1000 what can be learned of the system:

Example: Steady-State Error Specification

Find K so that there is a 10% error in steady state.

Analysis: Steady-State Error for Disturbances

"Steady-state error produced by a step

Example: Steady-State Error for Disturbances

Find the steady-state error component due to a step disturbance.

Definition: Steady-State Error for Nonunity Feedback

Example: Steady-State Error for Nonunity Feedback

Definition: Steady-State Error for Nonunity Feedback

For step input and step distrubances:

Definition: Steady-State Error for Nonunity Feedback

For zero error:

Definition: Steady-State Error for Nonunity Feedback

Steady-state value of the actuating signal Ea1(s)::

Example: Steady-State Error for Nonunity Feedback

Calculate sensitivity of the closed-loop transfer function to changes in parameter a:

Calculate sensitivity of the closed-loop transfer function to changes in parameter K

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